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	Estimating the Posture of Pipeline Inspection Robot with A 2D Laser Rang Finder
	Yuanyuan Hu; Zhangjun Song; Jun Zhu
	2012
会议名称	International Conference on Multisensor Fusion and Integration for Intelligent Systems
会议地点	德国
英文摘要	pipes exist in public utilities, factories and so on. Regular inspection is required to ensure the static integrity of the pipes and to insure against the problems associated with failure of the pipes. We have developed a pipeline inspection robot equipped with a camera which can walk in the pipes and stream back live video to the base station. In this paper we propose a new method for estimating the posture of the robot in round pipes with a 2D Laser Rang Finder (LRF) and a dual tilt-sensor by using the geometrical characteristic of the round pipes constructed with the point cloud data. Transformation matrix from the robot coordinate system to the global system is deduced. The positions and sizes of pipe defects can be calculated easily relying on the range data and images. Experiments by the inspection robot in dry smooth HDPE pipes are carried out and the results show that the proposed method is useful and valid.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3848]
专题	深圳先进技术研究院_集成所
作者单位	2012
推荐引用方式 GB/T 7714	Yuanyuan Hu,Zhangjun Song,Jun Zhu. Estimating the Posture of Pipeline Inspection Robot with A 2D Laser Rang Finder[C]. 见:International Conference on Multisensor Fusion and Integration for Intelligent Systems. 德国.

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