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アイテム
Navigation of an autonomous sewer inspection robot based on stereo camera images and laser scanner data
http://hdl.handle.net/10228/2412
http://hdl.handle.net/10228/2412af4f2d48-613f-43be-a3a0-fac087f63a6c
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
IJAIT.pdf (778.3 kB)
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| アイテムタイプ | 学術雑誌論文 = Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2009-07-07 | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| タイトル | ||||||
| タイトル | Navigation of an autonomous sewer inspection robot based on stereo camera images and laser scanner data | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 著者 |
Ahrary, Alireza
× Ahrary, Alireza× Tian, Li× Kamata, Sei-Ichiro× 石川, 眞澄 |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Sewer environment is composed of cylindrical pipes, in which only a few landmarks such as manholes, inlets and pipe joints are available for localization. This paper presents a method for navigation of an autonomous sewer inspection robot in a sewer pipe system based on detection of landmarks. In this method, location of an autonomous sewer inspection robot in the sewer pipe system is estimated from stereo camera images. The laser scanner data are also used to ensure accurate localization of the landmarks and reduce the error in distance estimation by image processing. The method is implemented and evaluated in a sewer pipe test field using a prototype robot, demonstrating its effectiveness. | |||||
| 言語 | en | |||||
| 書誌情報 |
en : International Journal on Artificial Intelligence Tools 巻 16, 号 4, p. 611-625, 発行日 2007-08-01 |
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| 出版社 | ||||||
| 出版者 | World Scientific Publishing Company | |||||
| 言語 | en | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | https://doi.org/10.1142/S0218213007003461 | |||||
| ISSN | ||||||
| 収録物識別子タイプ | PISSN | |||||
| 収録物識別子 | 0218-2130 | |||||
| ISSN | ||||||
| 収録物識別子タイプ | EISSN | |||||
| 収録物識別子 | 1793-6349 | |||||
| 著作権関連情報 | ||||||
| 権利情報 | Copyright © World Scientific Publishing Company | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | autonomous | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | sewer inspection | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | robot navigation | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | stereo matching | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | laser scanner | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | sewer pipe system | |||||
| 出版タイプ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
| 査読の有無 | ||||||
| 値 | yes | |||||
| 研究者情報 | ||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/3_ja.html | |||||
| 連携ID | ||||||
| 値 | 3 | |||||
| 業績ID | ||||||
| 値 | 5CDF7CFD4D5FAA0E492572DD002AEEB8 | |||||
