Abstract
The navigation and locating problems for robot moving in pipeline based on vision are studied in this paper. A visual navigation and locating strategy is proposed, key technologies such as obstacle and curve identifying, and multi-sensor information fusion are investigated. The movement of pipeline robot is controlled by robot vision, at the same time Kalman filters are expanded to fuse with measured values from multi-sensors, thus to identify the working surroundings, such as straight, curved and T-type pipelines. Then the robot's navigation and locating in pipeline is realized. According to standard experimental detecting on pipeline section, the method can meet the detecting requirements.
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