A laser scanner for landmark detection with the sewer inspection robot KANTARO

Abstract

Robot localization and navigation is one of the fundamental issues involved in robotics. The sewer environment contains only few local features such as manholes, pipe joints and inlets that are usable as landmarks for localization. In order to find an autonomous sewer inspection robot's way to a specified goal (manhole), it has to solve the landmark… (More)
DOI: 10.1109/SYSOSE.2006.1652314

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