{"id":"https://openalex.org/W2015919848","doi":"https://doi.org/10.1109/iros.2014.6943276","title":"Recognition of inside pipeline geometry by using PSD sensors for autonomous navigation","display_name":"Recognition of inside pipeline geometry by using PSD sensors for autonomous navigation","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2015919848","doi":"https://doi.org/10.1109/iros.2014.6943276","mag":"2015919848"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5003798339","display_name":"Yun Seok Choi","orcid":"https://orcid.org/0000-0002-7075-8277"},"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":"Yun Seok Choi","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020336080","display_name":"Ho Moon Kim","orcid":null},"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":"Ho Moon Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067824858","display_name":"Jung Seok Suh","orcid":null},"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":"Jung Seok Suh","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012471427","display_name":"Hyeong Min Mun","orcid":null},"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":"Hyeong Min Mun","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025311870","display_name":"Seung Ung Yang","orcid":null},"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":"Seung Ung Yang","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043439761","display_name":"Chan Min Park","orcid":null},"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":"Chan Min Park","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, 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":["Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5003798339"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":2.75662693,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.88765327,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5024","last_page":"5029"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12537","display_name":"Flow Measurement and Analysis","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T12537","display_name":"Flow Measurement and Analysis","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9764999747276306,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12169","display_name":"Non-Destructive Testing Techniques","score":0.95660001039505,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/pipeline","display_name":"Pipeline (software)","score":0.8421125411987305},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.7471778988838196},{"id":"https://openalex.org/keywords/pipeline-transport","display_name":"Pipeline transport","score":0.7403423190116882},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6350916028022766},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6281590461730957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.515096127986908},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4359278082847595},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43447113037109375},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41989395022392273},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40200161933898926},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34066683053970337},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32938623428344727},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1910010576248169},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1378653645515442}],"concepts":[{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.8421125411987305},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.7471778988838196},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.7403423190116882},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6350916028022766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6281590461730957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.515096127986908},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4359278082847595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43447113037109375},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41989395022392273},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40200161933898926},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34066683053970337},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32938623428344727},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1910010576248169},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1378653645515442},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6943276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W127086243","https://openalex.org/W873535901","https://openalex.org/W1483524576","https://openalex.org/W1595470521","https://openalex.org/W1616335618","https://openalex.org/W2070220051","https://openalex.org/W2101225852","https://openalex.org/W2101874720","https://openalex.org/W2102834897","https://openalex.org/W2109037936","https://openalex.org/W2118018092","https://openalex.org/W2119044260","https://openalex.org/W2121129750","https://openalex.org/W2126554494","https://openalex.org/W2157893028","https://openalex.org/W2167059146","https://openalex.org/W2169276573","https://openalex.org/W6605132767","https://openalex.org/W6635611660","https://openalex.org/W6675177578","https://openalex.org/W6685086259"],"related_works":["https://openalex.org/W4380433113","https://openalex.org/W4386072068","https://openalex.org/W252339960","https://openalex.org/W2390529043","https://openalex.org/W2378320433","https://openalex.org/W2358343511","https://openalex.org/W2051877971","https://openalex.org/W1787170397","https://openalex.org/W4292347844","https://openalex.org/W4313446760"],"abstract_inverted_index":{"To":[0],"deploy":[1],"an":[2,114],"untethered":[3],"robot":[4],"inside":[5,55],"pipelines":[6,56],"without":[7,57],"any":[8],"external":[9],"assistance,":[10],"it":[11],"is":[12,42,62,68,98,111],"prerequisite":[13],"to":[14,44],"recognize":[15],"the":[16,69,77,85,94,101],"pipeline":[17,34,88],"elements":[18,35],"such":[19],"as":[20],"straight":[21],"pipeline,":[22],"elbow,":[23,82],"T-branch,":[24],"and":[25,74,81,83,100,120],"miter.":[26],"This":[27],"paper":[28],"presents":[29],"a":[30],"method":[31,61,70],"of":[32,64,87],"recognizing":[33],"using":[36],"PSD(Position":[37],"Sensitive":[38],"Device)":[39],"sensors.":[40],"It":[41],"easy":[43],"implement,":[45],"but":[46],"help":[47],"us":[48],"collect":[49],"accurate":[50],"information":[51],"necessary":[52],"for":[53,71,93,103],"navigating":[54],"heavy":[58],"computation.":[59],"The":[60,91,108],"composed":[63],"three":[65],"parts,":[66],"which":[67],"distinguishing":[72],"T-branch":[73,80],"miter,":[75],"searching":[76],"direction":[78],"in":[79,113],"determining":[84],"types":[86],"element,":[89],"respectively.":[90],"design":[92],"PSD":[95],"sensor":[96,109],"suite":[97,110],"presented":[99],"algorithm":[102],"recognition":[104],"procedures":[105],"are":[106,123],"addressed.":[107],"implemented":[112],"in-pipe":[115],"robot,":[116],"called":[117],"MRINSPECT":[118],"VI,":[119],"its":[121],"performances":[122],"validated.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-02-01T03:34:12.195049","created_date":"2025-10-10T00:00:00"}