Combined Grid and Feature-based Mapping of Metal Structures with Ultrasonic Guided Waves
Othmane-Latif Ouabi,Ayoub Ridani,Pascal Pomarede,Neil Zeghidour,Nico F. Declercq,Matthieu Geist,Cédric Pradalier,Othmane-Latif Ouabi,Ayoub Ridani,Pascal Pomarede,Neil Zeghidour,Nico F. Declercq,Matthieu Geist,Cédric Pradalier
The ultrasonic mapping of plate-based facilities is an essential step towards the robotic inspection of large metal structures such as storage tanks or ship hulls. This work proposes a novel framework that exploits ultrasonic echoes to recover grid-based and feature-based spatial representations jointly. We aim to improve on a previous mapping method [1] subject to errors due to interference, and ...
