ICRA'09 Paper Abstract


Paper FrA10.3

Lee, Jung-Sub (Sungkyunkwan University), Roh, Se-gon (Sungkyunkwan University), Kim, Dowan (Sungkyunkwan University, Intelliget Robotics & Mechatronic Syste), Moon, Hyungpil (SungKyunKwan University), Choi, Hyouk Ryeol (Sungkyunkwan University)

In-Pipe Robot Navigation Based on the Landmark Recognition System Using Shadow Images

Scheduled for presentation during the Regular Sessions "Field Robots - III" (FrA10), Friday, May 15, 2009, 09:10−09:30, Room: 502

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Robotics in Hazardous Fields, Autonomous Navigation, Field Robots


In this paper, we present an autonomous in-pipe robot navigating system using vision-based landmark recognition. We propose to use special features of the pipelines (such as elbows or branches) as landmarks by recognizing the shadows of the elbows and branches. To obtain consistent shadow images, the in-pipe robot equips with specially designed illuminator. By analyzing the shadow, the robot can easily identify these land-marks, detect the direction of the passage, and adaptively tra-verse through while continuously updating the map. The effec-tiveness of the proposed method is verified by real experiments using the in-pipe robot MRINSPECT V for inspecting inside of the miniature urban 8-inch gas pipeline structure.



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