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A RGBD-Based System for Real-Time Robotic Defects Detection on Sewer Networks

  • Luis MerinoEmail author
  • David Alejo
  • Simón Martinez-Rozas
  • Fernando Caballero
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1092)

Abstract

In this paper we summarize the automatic defect inspection onboard the sewer inspection ground platform SIAR. We include a general overview of the software and hardware characteristics of our platform, making a special emphasis on the sensing devices and software systems that are used for defect inspection. The main detection algorithm makes use of the a priori knowledge of ideal sections of the sewers that can be found in the Geographic Information Systems (GIS), and uses a variant of the Iterative Closest Point (ICP) algorithm for finding structural and serviceability defects. Then, we describe the software modules that are in charge of storing the alerts found by the detection system and of displaying them to the operator. The whole system has been tested in two field scenarios on different locations of the real sewer network of Barcelona, Spain.

Keywords

Sewer inspection Defect detection Field robotics 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Luis Merino
    • 1
    Email author
  • David Alejo
    • 1
  • Simón Martinez-Rozas
    • 1
  • Fernando Caballero
    • 1
  1. 1.Service Robotics LaboratoryUniversidad Pablo de OlavideSevilleSpain

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