{"id":"https://openalex.org/W2772834933","doi":"https://doi.org/10.1109/iros.2017.8202306","title":"Anisotropic shadow-based operation assistant for a pipeline-inspection robot using a single illuminator and camera","display_name":"Anisotropic shadow-based operation assistant for a pipeline-inspection robot using a single illuminator and camera","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2772834933","doi":"https://doi.org/10.1109/iros.2017.8202306","mag":"2772834933"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5073931012","display_name":"Atsushi Kakogawa","orcid":"https://orcid.org/0000-0003-3543-1284"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]},{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA","JP"],"is_corresponding":true,"raw_author_name":"Atsushi Kakogawa","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan","University of Waterloo, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"University of Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083981510","display_name":"Yuki Komurasaki","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Komurasaki","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073931012"],"corresponding_institution_ids":["https://openalex.org/I135768898","https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":6.5326,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.96231467,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1305","last_page":"1310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9976999759674072,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/shadow","display_name":"Shadow (psychology)","score":0.7961066365242004},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7138919234275818},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7086679935455322},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6739201545715332},{"id":"https://openalex.org/keywords/shadow-mask","display_name":"Shadow mask","score":0.6414824724197388},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6281710863113403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.601972222328186},{"id":"https://openalex.org/keywords/bent-molecular-geometry","display_name":"Bent molecular geometry","score":0.5599634051322937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5495589375495911},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4408568739891052},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.3271493911743164},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23968619108200073},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.2361460030078888},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22167184948921204},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12879976630210876},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09114521741867065},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08623090386390686}],"concepts":[{"id":"https://openalex.org/C117797892","wikidata":"https://www.wikidata.org/wiki/Q286363","display_name":"Shadow (psychology)","level":2,"score":0.7961066365242004},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7138919234275818},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7086679935455322},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6739201545715332},{"id":"https://openalex.org/C2776326872","wikidata":"https://www.wikidata.org/wiki/Q1192335","display_name":"Shadow mask","level":2,"score":0.6414824724197388},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6281710863113403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.601972222328186},{"id":"https://openalex.org/C138211643","wikidata":"https://www.wikidata.org/wiki/Q675211","display_name":"Bent molecular geometry","level":2,"score":0.5599634051322937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5495589375495911},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4408568739891052},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.3271493911743164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23968619108200073},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2361460030078888},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22167184948921204},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12879976630210876},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09114521741867065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08623090386390686},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8202306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1577154791","https://openalex.org/W1595470521","https://openalex.org/W2010301722","https://openalex.org/W2015919848","https://openalex.org/W2023888290","https://openalex.org/W2025208539","https://openalex.org/W2066201152","https://openalex.org/W2073767424","https://openalex.org/W2102693043","https://openalex.org/W2109037936","https://openalex.org/W2119044260","https://openalex.org/W2126554494","https://openalex.org/W2154798305","https://openalex.org/W2159215254","https://openalex.org/W2167059146","https://openalex.org/W2562430523","https://openalex.org/W4233713099","https://openalex.org/W6635611660"],"related_works":["https://openalex.org/W2335716720","https://openalex.org/W2071445534","https://openalex.org/W1990782766","https://openalex.org/W2013279376","https://openalex.org/W4200295500","https://openalex.org/W2554280219","https://openalex.org/W4380836907","https://openalex.org/W1967427996","https://openalex.org/W2393196615","https://openalex.org/W4387143966"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"anisotropic":[4],"shadow-based":[5],"operation":[6,132],"assistant":[7,133],"method":[8],"for":[9,78],"a":[10,17,36,45,70,104],"multilink-articulated":[11],"wheeled":[12],"pipeline-inspection":[13],"robot":[14,92,100],"by":[15,166],"using":[16,148],"single":[18],"illuminator":[19,28],"and":[20,51,65,114],"camera.":[21],"By":[22,124],"displacing":[23],"the":[24,27,33,41,54,58,62,66,85,91,111,115,119,143,168,172,177,180,184],"position":[25],"of":[26,32,53,84,118,151,171,183],"relative":[29],"to":[30,103,135,179],"that":[31],"head":[34],"camera,":[35],"crescent-shaped":[37],"shadow":[38,55,67,79,86,144],"appears":[39],"in":[40,44,69,160],"images":[42],"captured":[43],"bent":[46,105,120,164,173],"pipe.":[47],"The":[48,154],"size,":[49],"position,":[50],"orientation":[52,60,73,113],"depend":[56],"on":[57],"robot's":[59,72,112],"around":[61],"pipe":[63,106,121,174],"axis,":[64],"disappears":[68],"certain":[71],"(anisotropic":[74],"shadow).":[75],"Generally,":[76],"as":[77],"based":[80],"navigation":[81],"systems,":[82],"disappearances":[83],"should":[87],"be":[88],"avoided":[89],"because":[90],"loses":[93],"its":[94],"way.":[95],"However,":[96],"our":[97],"previously":[98],"developed":[99],"(AIRo-2)":[101],"adapts":[102],"without":[107],"any":[108],"control":[109],"when":[110],"pathway":[116,169],"direction":[117,170],"are":[122],"aligned.":[123],"aligning":[125],"those":[126],"two":[127,149],"specific":[128],"orientations,":[129],"we":[130],"propose":[131],"system":[134,156],"pass":[136],"through":[137],"winding":[138],"pipes.":[139],"In":[140],"this":[141],"paper,":[142],"region":[145],"is":[146],"extracted":[147],"types":[150],"image":[152],"binarization.":[153],"proposed":[155],"was":[157],"experimentally":[158],"verified":[159],"pipelines":[161],"including":[162],"seven":[163],"pipes":[165],"applying":[167],"(obtained":[175],"from":[176],"shadow)":[178],"rolling":[181],"movement":[182],"robot.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}