{"id":"https://openalex.org/W4313072061","doi":"https://doi.org/10.1109/iros47612.2022.9981626","title":"A Standards-based Pipeline Route Drawing System using a Towed Sensing Unit","display_name":"A Standards-based Pipeline Route Drawing System using a Towed Sensing Unit","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313072061","doi":"https://doi.org/10.1109/iros47612.2022.9981626"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981626","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Kakogawa","raw_affiliation_strings":["Research Organization of Science and Technology, Ritsumeikan University,Kusatsu,Shiga,JAPAN,525-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Organization of Science and Technology, Ritsumeikan University,Kusatsu,Shiga,JAPAN,525-8577","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011281092","display_name":"Chihiro HIROSE","orcid":"https://orcid.org/0009-0005-0198-3330"},"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":"Chihiro Hirose","raw_affiliation_strings":["Rit-sumeikan University,Faculty of Science and Engineering,Department of Robotics,Kusatsu,Shiga,JAPAN,525-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rit-sumeikan University,Faculty of Science and Engineering,Department of Robotics,Kusatsu,Shiga,JAPAN,525-8577","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102150334","display_name":"Shugen Ma","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":"Shugen Ma","raw_affiliation_strings":["Rit-sumeikan University,Faculty of Science and Engineering,Department of Robotics,Kusatsu,Shiga,JAPAN,525-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rit-sumeikan University,Faculty of Science and Engineering,Department of Robotics,Kusatsu,Shiga,JAPAN,525-8577","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7167","last_page":"7173"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9979000091552734,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8492937088012695},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7527181506156921},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.7462444305419922},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.73859703540802},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.524463415145874},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5096385478973389},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5021803379058838},{"id":"https://openalex.org/keywords/rotary-encoder","display_name":"Rotary encoder","score":0.49665576219558716},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49636322259902954},{"id":"https://openalex.org/keywords/pipeline-transport","display_name":"Pipeline transport","score":0.4786975681781769},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4289892017841339},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.42559778690338135},{"id":"https://openalex.org/keywords/metre","display_name":"Metre","score":0.4189058542251587},{"id":"https://openalex.org/keywords/descent","display_name":"Descent (aeronautics)","score":0.4148057997226715},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4044603705406189},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3730062246322632},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.37078502774238586},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2856600880622864},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26865577697753906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2236337959766388},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.16787934303283691}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8492937088012695},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7527181506156921},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7462444305419922},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.73859703540802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.524463415145874},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5096385478973389},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5021803379058838},{"id":"https://openalex.org/C37488316","wikidata":"https://www.wikidata.org/wiki/Q53699","display_name":"Rotary encoder","level":3,"score":0.49665576219558716},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49636322259902954},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.4786975681781769},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4289892017841339},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.42559778690338135},{"id":"https://openalex.org/C151011524","wikidata":"https://www.wikidata.org/wiki/Q11573","display_name":"Metre","level":2,"score":0.4189058542251587},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.4148057997226715},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4044603705406189},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3730062246322632},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.37078502774238586},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2856600880622864},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26865577697753906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2236337959766388},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16787934303283691},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981626","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:irdb.nii.ac.jp:01038:0006909177","is_oa":false,"landing_page_url":"https://ritsumei.repo.nii.ac.jp/records/2003649","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320324329","display_name":"Ministry of Land, Infrastructure, Transport and Tourism","ror":"https://ror.org/00b0p4j69"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1981742878","https://openalex.org/W2010301722","https://openalex.org/W2011090719","https://openalex.org/W2036687469","https://openalex.org/W2066201152","https://openalex.org/W2110326275","https://openalex.org/W2116932110","https://openalex.org/W2126554494","https://openalex.org/W2159215254","https://openalex.org/W2160146756","https://openalex.org/W2166304119","https://openalex.org/W2167059146","https://openalex.org/W2546687075","https://openalex.org/W2766718428","https://openalex.org/W2996073213","https://openalex.org/W3003474137","https://openalex.org/W3129329873","https://openalex.org/W3129949625","https://openalex.org/W3196322471","https://openalex.org/W4200194385"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W4287084017","https://openalex.org/W3179745820","https://openalex.org/W2537790823","https://openalex.org/W2594666386","https://openalex.org/W2545638156","https://openalex.org/W2359095091","https://openalex.org/W2000754062"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,10,14,26,52,58,111],"method":[4,53,80],"of":[5,67,75,81,89,95,131],"drawing":[6],"pipeline":[7,45,113],"routes":[8],"using":[9,57,105],"sensing":[11],"unit":[12],"with":[13],"rotary":[15],"encoder":[16],"and":[17,61,64,92,120,122],"IMU":[18,33],"(Inertial":[19],"Measurement":[20],"Unit),":[21],"which":[22],"is":[23,98,103],"towed":[24],"by":[25],"self-propelled":[27],"in-pipe":[28],"inspection":[29],"robot.":[30],"However,":[31],"the":[32,65,68,72,76,79,83,106,127,132],"information":[34,74],"generally":[35],"contains":[36],"integration":[37],"errors,":[38],"making":[39],"it":[40],"difficult":[41],"to":[42,137],"draw":[43],"accurate":[44],"routes.":[46],"In":[47],"this":[48],"study,":[49],"we":[50],"propose":[51],"combining":[54],"gradient":[55],"descent":[56],"gyroscopic":[59],"sensor":[60],"an":[62,101],"accelerometer,":[63],"correction":[66],"route":[69,133],"based":[70],"on":[71,110],"standard":[73],"pipe.":[77],"First,":[78],"identifying":[82],"start":[84],"point,":[85,87],"end":[86],"direction":[88,94],"straight":[90,124],"pipes,":[91],"bending":[93],"curved":[96,118],"pipes":[97,119],"explained.":[99],"Then,":[100],"experiment":[102],"conducted":[104],"developed":[107],"robot":[108],"system":[109],"11.6-meter-long":[112],"course":[114],"that":[115],"includes":[116],"nine":[117],"horizontal":[121],"vertical":[123],"pipes.":[125],"Consequently,":[126],"mean":[128],"absolute":[129],"error":[130],"dimension":[134],"was":[135],"reduced":[136],"2.74":[138],"%.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
