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pipe inspection

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Landmark detection methods for in-pipe robot traveling in urban gas pipelines
Dong-Hyuk Lee, Hyungpil Moon, Hyouk Ryeol Choi
Journal:

Robotica / Volume 34 / Issue 3 / March 2016

Published online by Cambridge University Press:

09 July 2014, pp. 601-618
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Elbows and branches in pipelines produce unique image patterns, which can be used as landmarks for autonomous navigation inside the pipelines. This paper presents two landmark detection methods, known as shadow-based method and laser projection method. The first method uses the landmark's unique patterns of shadow produced by the robot's illuminator. The other method exploits special line features generated by its own line-laser beam projector. The basic algorithms for extracting the landmarks are given and special sensor mechanisms are addressed respectively. Finally, the detection performances of each method are validated in various pipeline conditions by using an in-pipe robot, called MRINSPECT-V.