Development of Visual Simultaneous Localization and Mapping (VSLAM) for a Pipe Inspection Robot

  title={Development of Visual Simultaneous Localization and Mapping (VSLAM) for a Pipe Inspection Robot},
  author={Dennis Krys and Homayoun Najjaran},
  journal={2007 International Symposium on Computational Intelligence in Robotics and Automation},
This paper describes a visual simultaneous localization and mapping (VSLAM) method for a pipe inspection robot that can serve as a carrier for nondestructive testing (NDT) sensors inside in-service water mains. The proposed method features a multi-sensor fusion system that simultaneously executes two important functions of the robot: construct a global image of the internal surface of the pipe and provide the location of the NDT sensors. The fusion involves a synergy between image mosaicing and… CONTINUE READING
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