2023
Visual Simultaneous Localization and Mapping for Sewer Pipe Networks Leveraging Cylindrical Regularity
RA-L 2023
This work proposes a novel visual Simultaneous Localisation and Mapping (vSLAM) approach for robots in sewer pipe networks. One problem of vSLAM in pipes is that the scale drifts and accuracy degrades. We propose the use of structural information to mitigate this problem via cylindrical regularity.