4 accepted papers
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.
Modern camera systems in robotics tend to pro-duce overwhelming amounts of visual information due to their high resolutions and high frame rates. This raises a fundamental question of how robots should focus attention on a region of the visual scene, and how they should process information in the pe…
Water is a highly valuable resource so asset management of associated infrastructure is of critical importance. Water distribution pipe networks are usually buried, and so are difficult to access. Robots are therefore appealing for performing inspection and detecting damage to target repairs. Howeve…
We present an adaptive filter model of cerebellar function applied to the calibration of a tactile sensory map to improve the accuracy of directed movements of a robotic manipulator. This is demonstrated using a platform called Bellabot that incorporates an array of biomimetic tactile whiskers, actu