Abstract
In this paper, we investigate the use of a laser range finder on a robotic platform for buried water pipe inspection. A robotic platform carrying and manipulating multiple nondestructive inspection sensors may require accurately locating robot's body in the pipe. The laser range finder provides an accurate distance measurement, which can generate a profile of the pipe inner surface. This profile, on one hand, can be used to identify the location of the laser source and thus the robot's body. Such information can further help the navigation of the robot. On the other hand, the anomalies presented in the profile can be detected and characterized in terms of the range measurement. The simulated and real data tests presented in this paper demonstrate the feasibility and effectiveness of incorporating the laser range finder into a robotic platform for the underground pipe inspection.
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