Visual-Inertial-Laser-Lidar (VILL) SLAM: Real-Time Dense RGB-D Mapping for Pipe Environments
Tina Tian,Luyuan Wang,Xinzhi Yan,Fujun Ruan,G. Jaya Aadityaa,Howie Choset,Lu Li,Tina Tian,Luyuan Wang,Xinzhi Yan,Fujun Ruan,G. Jaya Aadityaa,Howie Choset,Lu Li
Robotic solutions for pipeline inspection promise enhancement of human labor by automating data acquisition for pipe condition assessments, which are vital for the early detection of pipe anomalies and the prevention of hazardous leakages and explosions. Through simultaneous localization and mapping (SLAM), colorized 3D reconstructions of the pipe's inner surface can be generated, providing a more...
