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Open AccessArticle

Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization

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Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, UK
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Department of Civil and Structural Engineering, University of Sheffield, Sheffield S1 3JD, UK
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Department of Mechanical Engineering, University of Sheffield, Sheffield S1 3JD, UK
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(19), 5584; https://doi.org/10.3390/s20195584
Received: 4 September 2020 / Revised: 21 September 2020 / Accepted: 24 September 2020 / Published: 29 September 2020
(This article belongs to the Special Issue Robotic Sensing for Smart Cities)
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 magnetic field sensing. Experimental results show that the use of acoustic information in pose-graph optimization reduces errors by 39% compared to the use of typical pose-graph optimization using landmark features only. High location accuracy is essential to efficiently and effectively target investment to maximise the use of our aging pipe infrastructure. View Full-Text
Keywords: robot localization and mapping; SLAM; pose-graph optimization; pipe inspection robot robot localization and mapping; SLAM; pose-graph optimization; pipe inspection robot
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Worley, R.; Ma, K.; Sailor, G.; Schirru, M.M.; Dwyer-Joyce, R.; Boxall, J.; Dodd, T.; Collins, R.; Anderson, S. Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization. Sensors 2020, 20, 5584.

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