Sound-based online localization for an in-pipe snake robot

Yoshiaki Bando, Hiroki Suhara, Motoyasu Tanaka, Tetsushi Kamegawa, Katsutoshi Itoyama, Kazuyoshi Yoshii, Fumitoshi Matsuno, Hiroshi G. Okuno

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    32 Citations (Scopus)


    This paper presents a sound-based online localization method for an in-pipe snake robot with an inertial measurement unit (IMU). In-pipe robots, in particular, snake robots need online localization for autonomous inspection and for remote operator supports. The GPS is denied in a pipeline, and conventional odometry-based localization may deteriorate due to slippage and sudden unintended movements. By putting a microphone on the robot and a loudspeaker at the entrance of the pipeline, their distance can be estimated by measuring the time of flight (ToF) of a reference sound emitted from the loudspeaker. Since the sound propagation path in the pipeline is necessary for estimating the robot location, the proposed sound-based online localization method simultaneously estimates the robot location and the pipeline map by combining the distance obtained by the ToF and orientation estimated by the IMU. The experimental results showed that the error of the distance estimation was less than 7% and the accuracy of the pipeline map was more than 68.0%.

    Original languageEnglish
    Title of host publicationSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Number of pages7
    ISBN (Electronic)9781509043491
    Publication statusPublished - 2016 Dec 14
    Event14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
    Duration: 2016 Oct 232016 Oct 27


    Other14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016

    ASJC Scopus subject areas

    • Human-Computer Interaction
    • Artificial Intelligence
    • Safety, Risk, Reliability and Quality


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