An autonomous sewer robots navigation based on stereo camera information

Alireza Ahrary; Li Tian; Sei Ichiro Kamata; Masumi Ishikawa

doi:10.1109/ICTAI.2005.35

An autonomous sewer robots navigation based on stereo camera information

Alireza Ahrary^*, Li Tian, Sei Ichiro Kamata, Masumi Ishikawa

^*この研究の対応する著者

大学院情報生産システム研究科

研究成果: Conference contribution

15 被引用数 (Scopus)

抄録

In this paper, we propose a method for an autonomous sewer robots to navigate through a sewer pipe system based on stereo camera information. In this method, a local features such as manholes and pipe joints are extracting as a feature pixels in the Region of Interest (ROI) of left image. Then, an accurate and fast stereo matching measure named Linear Computation is implemented in this ROI image to compute the distance between the robots and local features. Finally, the distance data can be used for navigation map in sewer pipe system. The experimental results show that our method can provide sufficient information for an autonomous sewer robots navigation.

本文言語	English
ホスト出版物のタイトル	ICTAI 2005
ホスト出版物のサブタイトル	17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05
ページ	628-633
ページ数	6
DOI	https://doi.org/10.1109/ICTAI.2005.35
出版ステータス	Published - 2005 12月 1
イベント	ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05 - Hong Kong, China 継続期間: 2005 11月 14 → 2005 11月 16

出版物シリーズ

名前	Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI
巻	2005
ISSN（印刷版）	1082-3409

Conference

Conference	ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05
国/地域	China
City	Hong Kong
Period	05/11/14 → 05/11/16

ASJC Scopus subject areas

工学（全般）

文献へのアクセス

10.1109/ICTAI.2005.35

他のファイルとリンク

引用スタイル

Ahrary, A., Tian, L., Kamata, S. I., & Ishikawa, M. (2005). An autonomous sewer robots navigation based on stereo camera information. In ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05 (pp. 628-633). [1563004] (Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI; Vol. 2005). https://doi.org/10.1109/ICTAI.2005.35

An autonomous sewer robots navigation based on stereo camera information. / Ahrary, Alireza; Tian, Li; Kamata, Sei Ichiro その他.
ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05. 2005. p. 628-633 1563004 (Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI; Vol. 2005).

研究成果: Conference contribution

Ahrary, A, Tian, L, Kamata, SI & Ishikawa, M 2005, An autonomous sewer robots navigation based on stereo camera information. in ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05., 1563004, Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI, vol. 2005, pp. 628-633, ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05, Hong Kong, China, 05/11/14. https://doi.org/10.1109/ICTAI.2005.35

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An autonomous sewer robots navigation based on stereo camera information

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出版物シリーズ

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