2022
Combined Grid and Feature-based Mapping of Metal Structures with Ultrasonic Guided Waves
Othmane-Latif Ouabi, Ayoub Ridani, Pascal Pomarede, Neil Zeghidour, Nico F. Declercq, Matthieu Geist +1
ICRA 2022poster
The ultrasonic mapping of plate-based facilities is an essential step towards the robotic inspection of large metal structures such as storage tanks or ship hulls. This work proposes a novel framework that exploits ultrasonic echoes to recover grid-based and feature-based spatial representations joi…