{"id":"https://openalex.org/W4366147986","doi":"https://doi.org/10.1109/lra.2023.3268013","title":"Visual Simultaneous Localization and Mapping for Sewer Pipe Networks Leveraging Cylindrical Regularity","display_name":"Visual Simultaneous Localization and Mapping for Sewer Pipe Networks Leveraging Cylindrical Regularity","publication_year":2023,"publication_date":"2023-04-17","ids":{"openalex":"https://openalex.org/W4366147986","doi":"https://doi.org/10.1109/lra.2023.3268013"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3268013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3268013","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5042977935","display_name":"Rui Zhang","orcid":"https://orcid.org/0000-0001-7760-6316"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rui Zhang","raw_affiliation_strings":["Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7760-6316","affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034011435","display_name":"Rob Worley","orcid":"https://orcid.org/0000-0002-3607-2650"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rob Worley","raw_affiliation_strings":["Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3607-2650","affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004068529","display_name":"Sarah Edwards","orcid":"https://orcid.org/0000-0003-4497-9508"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sarah Edwards","raw_affiliation_strings":["Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4497-9508","affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080450263","display_name":"Jonathan M. Aitken","orcid":"https://orcid.org/0000-0003-4204-4020"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jonathan Aitken","raw_affiliation_strings":["Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4204-4020","affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071097412","display_name":"Sean Anderson","orcid":"https://orcid.org/0000-0002-7452-5681"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sean R. Anderson","raw_affiliation_strings":["Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K"],"raw_orcid":"https://orcid.org/0000-0002-7452-5681","affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006505402","display_name":"Lyudmila Mihaylova","orcid":"https://orcid.org/0000-0001-5856-2223"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lyudmila Mihaylova","raw_affiliation_strings":["Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5856-2223","affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I91136226"],"apc_list":null,"apc_paid":null,"fwci":10.923,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.97660048,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":"6","first_page":"3406","last_page":"3413"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6824613213539124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5686780214309692},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5573357343673706},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.529809832572937},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5086313486099243},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49457165598869324},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4734463393688202},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4496479630470276},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43396249413490295},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3897733688354492},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2499266266822815},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.161823570728302},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14002081751823425},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08349895477294922}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6824613213539124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5686780214309692},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5573357343673706},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.529809832572937},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5086313486099243},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49457165598869324},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4734463393688202},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4496479630470276},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43396249413490295},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3897733688354492},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2499266266822815},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.161823570728302},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14002081751823425},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08349895477294922},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3268013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3268013","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:198087","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1536492898","display_name":null,"funder_award_id":"EP/S016813/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W645436802","https://openalex.org/W1586121406","https://openalex.org/W1612997784","https://openalex.org/W1981339663","https://openalex.org/W1989329448","https://openalex.org/W2000018820","https://openalex.org/W2025208539","https://openalex.org/W2043630212","https://openalex.org/W2046171117","https://openalex.org/W2075570089","https://openalex.org/W2102271310","https://openalex.org/W2102693043","https://openalex.org/W2108442387","https://openalex.org/W2112479957","https://openalex.org/W2121502845","https://openalex.org/W2146881125","https://openalex.org/W2149659501","https://openalex.org/W2167340365","https://openalex.org/W2319895531","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2913638934","https://openalex.org/W2967494572","https://openalex.org/W2995298626","https://openalex.org/W3046509059","https://openalex.org/W3048686556","https://openalex.org/W3088834526","https://openalex.org/W3098550868","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W3130066555","https://openalex.org/W3203672409","https://openalex.org/W3208584317","https://openalex.org/W4211154833","https://openalex.org/W4234166837","https://openalex.org/W6634946569","https://openalex.org/W6677980251","https://openalex.org/W6776145471"],"related_works":["https://openalex.org/W2084446318","https://openalex.org/W2003315864","https://openalex.org/W4200491918","https://openalex.org/W2907649844","https://openalex.org/W2094118828","https://openalex.org/W115118758","https://openalex.org/W4300004365","https://openalex.org/W3028427889","https://openalex.org/W4324290685","https://openalex.org/W2911519798"],"abstract_inverted_index":{"This":[0],"work":[1],"proposes":[2],"a":[3,85,117,156,193],"novel":[4],"visual":[5,144],"Simultaneous":[6],"Localisation":[7],"and":[8,29,78,123,140,148,171],"Mapping":[9],"(vSLAM)":[10],"approach":[11,52,83],"for":[12,53,163],"robots":[13],"in":[14,22,63,98,198],"sewer":[15,65,168],"pipe":[16,66,169],"networks.":[17],"One":[18],"problem":[19,42],"of":[20,36,50,110,195],"vSLAM":[21,157],"pipes":[23],"is":[24,57,70,103,108,138],"that":[25,56,104,185],"the":[26,34,96,105,111,120,127,176,190],"scale":[27,112],"drifts":[28],"accuracy":[30],"degrades.":[31],"We":[32],"propose":[33],"use":[35],"structural":[37],"information":[38],"to":[39,119,142],"mitigate":[40],"this":[41,124],"via":[43],"cylindrical":[44,160],"regularity.":[45],"The":[46,82,129,182],"main":[47],"novelty":[48,102],"consists":[49],"an":[51],"cylinder":[54,87,107],"detection":[55],"more":[58],"robust":[59],"than":[60],"previous":[61],"methods":[62],"non-smooth":[64],"environments.":[67],"Cylindrical":[68],"regularity":[69,161],"then":[71],"incorporated":[72],"into":[73],"both":[74],"local":[75],"bundle":[76],"adjustment":[77],"pose":[79],"graph":[80],"optimisation.":[81],"adopts":[84],"minimal":[86],"representation":[88],"with":[89,159,175,192],"only":[90],"five":[91],"parameters,":[92],"avoiding":[93],"constraints":[94],"during":[95],"optimisation":[97],"vSLAM.":[99],"A":[100],"further":[101,125],"estimated":[106],"part":[109],"drift":[113],"estimation,":[114],"which":[115],"enables":[116],"correction":[118],"translation":[121],"estimate":[122],"improves":[126,187],"accuracy.":[128],"approach,":[130],"termed":[131],"<italic":[132,177],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[133,178],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Cylindrical":[134],"Regularity":[135],"ORB-SLAM</i>":[136],"(CRORB),":[137],"benchmarked":[139],"compared":[141],"leading":[143],"SLAM":[145],"algorithms":[146],"ORB-SLAM2":[147],"direct":[149],"sparse":[150],"odometry":[151],"(DSO),":[152],"as":[153,155],"well":[154],"algorithm":[158],"developed":[162],"gas":[164],"pipes,":[165],"using":[166],"real":[167,201],"data":[170,173],"synthetic":[172],"generated":[174],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Gazebo</i>":[179],"modelling":[180],"software.":[181],"results":[183],"demonstrate":[184],"CRORB":[186],"substantially":[188],"over":[189],"competitors,":[191],"reduction":[194],"approximately":[196],"70%":[197],"error":[199],"on":[200],"data.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}