Visual Simultaneous Localization and Mapping for Sewer Pipe Networks Leveraging Cylindrical Regularity
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3268013
Abstract: This work proposes a novel visual Simultaneous Localisation and Mapping (vSLAM) approach for robots in sewer pipe networks. One problem of vSLAM in pipes is that the scale drifts and accuracy degrades. We propose the… read more here.
Keywords: pipe networks; visual simultaneous; regularity; cylindrical regularity ... See more keywords
A visual simultaneous localization and mapping approach based on scene segmentation and incremental optimization
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881420977669
Abstract: Existing visual simultaneous localization and mapping (V-SLAM) algorithms are usually sensitive to the situation with sparse landmarks in the environment and large view transformation of camera motion, and they are liable to generate large pose… read more here.
Keywords: segmentation; visual simultaneous; optimization; scene segmentation ... See more keywords