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Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization
2020
Sensors
One of the most fundamental tasks for robots inspecting water distribution pipes is localization, which allows for autonomous navigation, for faults to be communicated, and for interventions to be instigated. Pose-graph optimization using spatially varying information is used to enable localization within a feature-sparse length of pipe. We present a novel method for improving estimation of a robot's trajectory using the measured acoustic field, which is applicable to other measurements such as
doi:10.3390/s20195584
pmid:33003456
fatcat:hx4nk6n4tfej3h4vhwwrqjza2a