{"id":"https://openalex.org/W2102834897","doi":"https://doi.org/10.1109/icra.2011.5980503","title":"Autonomous navigation of in-pipe working robot in unknown pipeline environment","display_name":"Autonomous navigation of in-pipe working robot in unknown pipeline environment","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2102834897","doi":"https://doi.org/10.1109/icra.2011.5980503","mag":"2102834897"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980503","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004181972","display_name":"Dong\u2010Hyuk Lee","orcid":"https://orcid.org/0000-0003-3969-5981"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Dong-Hyuk Lee","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","School of Mechanical Engineering,  Sungkyunkwan University, Suwon, 440-746, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"School of Mechanical Engineering,  Sungkyunkwan University, Suwon, 440-746, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055372260","display_name":"Hyungpil Moon","orcid":"https://orcid.org/0000-0002-1091-0716"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungpil Moon","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","School of Mechanical Engineering,  Sungkyunkwan University, Suwon, 440-746, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"School of Mechanical Engineering,  Sungkyunkwan University, Suwon, 440-746, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","School of Mechanical Engineering,  Sungkyunkwan University, Suwon, 440-746, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"School of Mechanical Engineering,  Sungkyunkwan University, Suwon, 440-746, Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5004181972"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":1.469,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.81904302,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.8608131408691406},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.8398399353027344},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7565629482269287},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7057250142097473},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6746538281440735},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6134165525436401},{"id":"https://openalex.org/keywords/pipeline-transport","display_name":"Pipeline transport","score":0.5900176763534546},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5871506333351135},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5827155113220215},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5450208783149719},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45993590354919434},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4403456449508667},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.439073383808136},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4330591857433319},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30042600631713867},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1755351722240448}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.8608131408691406},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.8398399353027344},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7565629482269287},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7057250142097473},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6746538281440735},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6134165525436401},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.5900176763534546},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5871506333351135},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5827155113220215},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5450208783149719},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45993590354919434},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4403456449508667},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.439073383808136},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4330591857433319},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30042600631713867},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1755351722240448},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C87717796","wikidata":"https://www.wikidata.org/wiki/Q146326","display_name":"Environmental engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980503","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W127086243","https://openalex.org/W873535901","https://openalex.org/W1483524576","https://openalex.org/W1502175718","https://openalex.org/W1576456446","https://openalex.org/W1595470521","https://openalex.org/W1616335618","https://openalex.org/W1979399978","https://openalex.org/W2045450279","https://openalex.org/W2070220051","https://openalex.org/W2073767424","https://openalex.org/W2097376151","https://openalex.org/W2101225852","https://openalex.org/W2101874720","https://openalex.org/W2103365233","https://openalex.org/W2109037936","https://openalex.org/W2118018092","https://openalex.org/W2119044260","https://openalex.org/W2121129750","https://openalex.org/W2126554494","https://openalex.org/W2139004422","https://openalex.org/W2157893028","https://openalex.org/W2167059146","https://openalex.org/W3035971198","https://openalex.org/W4233713099","https://openalex.org/W6605132767","https://openalex.org/W6634327267","https://openalex.org/W6635611660","https://openalex.org/W6675177578","https://openalex.org/W6779605941","https://openalex.org/W7009053554"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W4243161226","https://openalex.org/W2052388267","https://openalex.org/W2950647290","https://openalex.org/W2953723477","https://openalex.org/W2151147465","https://openalex.org/W2182896630"],"abstract_inverted_index":{"In":[0,39],"this":[1,40,82,130],"paper,":[2,41],"we":[3,42],"present":[4],"the":[5,16,37,57,61,64,70,85,96,99,103,108,112,126,137,142,149,157],"autonomous":[6],"pipeline":[7,100,144],"navigation":[8,135],"method":[9,49,151],"of":[10,26,60,72,98,125,148],"an":[11],"in-pipe":[12,158],"robot,":[13],"based":[14],"on":[15,56,69],"landmark":[17,47],"recognition":[18],"system":[19],"and":[20,31,90,111,119,132],"3D":[21,143],"orientation":[22,109],"sensor.":[23],"The":[24,146],"fittings":[25],"pipelines":[27],"such":[28],"as":[29,36],"elbows":[30],"branches":[32],"can":[33,87,139],"be":[34],"used":[35,120],"landmarks.":[38],"introduce":[43],"a":[44,51,74,123,133],"noise":[45],"tolerant":[46],"detection":[48],"using":[50,81,129,156],"line":[52,65,76,83],"laser":[53,66],"beam":[54],"projected":[55,68],"internal":[58],"surface":[59,71],"pipeline.":[62],"Once":[63],"is":[67,78,116,152],"landmarks,":[73],"unique":[75],"pattern":[77],"generated.":[79],"By":[80,128],"pattern,":[84],"robot":[86,138,159],"easily":[88],"detect":[89],"distinguish":[91],"these":[92],"landmarks":[93],"while":[94],"recognizing":[95],"direction":[97],"path.":[101],"Simultaneously,":[102],"robot's":[104],"pose":[105],"information":[106],"from":[107],"sensor":[110],"driving":[113],"motor's":[114],"encoder":[115],"continuously":[117],"recorded":[118],"to":[121],"reconstruct":[122],"map":[124,131],"pipelines.":[127],"specific":[134],"strategy,":[136],"navigate":[140],"in":[141],"autonomously.":[145],"effectiveness":[147],"proposed":[150],"validated":[153],"by":[154],"experiments":[155],"called":[160],"MRINSPECT":[161],"V.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}