3 accepted papers
This work presents a comprehensive LiDAR-inertial odometry framework featuring robust smoothing and mapping capabilities, effectively correcting LiDAR feature point skewness using an inertial measurement unit (IMU). While the Extended Kalman Filter (EKF) is a common choice for nonlinear motion estim…
Culverts, essential components of drainage systems, require regular inspection to ensure optimal functionality. However, culvert inspections pose numerous challenges, including accessibility, manpower, defect localization, and reliance on superficial assessments. To address these challenges, we prop…
This paper presents a novel design of a multi-directional bicycle robot, which is developed for the inspection of steel structures, in particular, steel-reinforced bridges. The locomotion concept is based on arranging two magnetic wheels in a bicycle-like configuration with two independent steering…