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17th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'05)
An Autonomous Sewer Robots Navigation Based on Stereo Camera Information
Hong Kong, China
November 14-November 16
ISBN: 0-7695-2488-5
ASCII Text
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Alireza Ahrary, Li Tian, Sei-ichiro Kamata, Masumi Ishikawa, "An Autonomous Sewer Robots Navigation Based on Stereo Camera Information," Tools with Artificial Intelligence, IEEE International Conference on, pp. 628-633, 17th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'05), 2005.
 
 
BibTex
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@article{ 10.1109/ICTAI.2005.35,
author = {Alireza Ahrary and Li Tian and Sei-ichiro Kamata and Masumi Ishikawa},
title = {An Autonomous Sewer Robots Navigation Based on Stereo Camera Information},
journal ={Tools with Artificial Intelligence, IEEE International Conference on},
volume = {0},
year = {2005},
issn = {1082-3409},
pages = {628-633},
doi = {http://doi.ieeecomputersociety.org/10.1109/ICTAI.2005.35},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - Tools with Artificial Intelligence, IEEE International Conference on
TI - An Autonomous Sewer Robots Navigation Based on Stereo Camera Information
SN - 1082-3409
SP628
EP633
A1 - Alireza Ahrary,
A1 - Li Tian,
A1 - Sei-ichiro Kamata,
A1 - Masumi Ishikawa,
PY - 2005
KW - null
VL - 0
JA - Tools with Artificial Intelligence, IEEE International Conference on
ER -
 
Alireza Ahrary, FAIS-Robotics Research Institute
Li Tian, Waseda University
Sei-ichiro Kamata, Waseda University
Masumi Ishikawa, Kyushu Institute of Technology
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.
Citation:
Alireza Ahrary, Li Tian, Sei-ichiro Kamata, Masumi Ishikawa, "An Autonomous Sewer Robots Navigation Based on Stereo Camera Information," ictai, pp.628-633, 17th IEEE International Conference on Tools with Artificial Intelligence (ICTAI'05), 2005
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