{"id":"https://openalex.org/W3207579667","doi":"https://doi.org/10.23919/wac50355.2021.9559581","title":"Development of an inspection system for waterway tunnels based on visual SLAM by an autonomous water robot","display_name":"Development of an inspection system for waterway tunnels based on visual SLAM by an autonomous water robot","publication_year":2021,"publication_date":"2021-08-01","ids":{"openalex":"https://openalex.org/W3207579667","doi":"https://doi.org/10.23919/wac50355.2021.9559581","mag":"3207579667"},"language":"en","primary_location":{"id":"doi:10.23919/wac50355.2021.9559581","is_oa":false,"landing_page_url":"https://doi.org/10.23919/wac50355.2021.9559581","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 World Automation Congress (WAC)","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/A5063206759","display_name":"Cheng Tang","orcid":"https://orcid.org/0000-0002-8148-1509"},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Cheng Tang","raw_affiliation_strings":["Tokyo metropolitan university, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo metropolitan university, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103102524","display_name":"Ryota Inoue","orcid":"https://orcid.org/0009-0002-5573-5920"},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryota Inoue","raw_affiliation_strings":["Tokyo metropolitan university, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo metropolitan university, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090506246","display_name":"Wei Hong Chin","orcid":"https://orcid.org/0000-0002-0540-8537"},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wei Hong Chin","raw_affiliation_strings":["Tokyo metropolitan university, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo metropolitan university, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074076109","display_name":"Naoyuki Kubota","orcid":"https://orcid.org/0000-0001-8829-037X"},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoyuki Kubota","raw_affiliation_strings":["Tokyo metropolitan university, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo metropolitan university, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063206759"],"corresponding_institution_ids":["https://openalex.org/I69740276"],"apc_list":null,"apc_paid":null,"fwci":0.34,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74360962,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"125","last_page":"130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9937000274658203,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.6236389875411987},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5705264806747437},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5594388246536255},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.537397027015686},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4278098940849304},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.41485995054244995}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6236389875411987},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5705264806747437},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5594388246536255},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.537397027015686},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4278098940849304},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.41485995054244995}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/wac50355.2021.9559581","is_oa":false,"landing_page_url":"https://doi.org/10.23919/wac50355.2021.9559581","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 World Automation Congress (WAC)","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":25,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W1989484209","https://openalex.org/W2032083880","https://openalex.org/W2056898157","https://openalex.org/W2108134361","https://openalex.org/W2110357983","https://openalex.org/W2113243634","https://openalex.org/W2149020252","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2168031394","https://openalex.org/W2171646521","https://openalex.org/W2336416123","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2564361441","https://openalex.org/W2621274416","https://openalex.org/W2962987986","https://openalex.org/W2977977449","https://openalex.org/W3103648783","https://openalex.org/W3103957575","https://openalex.org/W3124420883","https://openalex.org/W6721610202"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2772917594","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398","https://openalex.org/W2775347418"],"abstract_inverted_index":{"In":[0,139],"recent":[1],"years,":[2],"due":[3],"to":[4,69,118],"the":[5,41,48,58,73,90,108,126,164,172,197],"shortage":[6],"of":[7,63,107,112,128],"labor":[8],"caused":[9],"by":[10,167],"an":[11,148,156],"aging":[12],"population":[13],"and":[14,60,76,97,104,110,122,155,183,200],"low":[15],"birth":[16],"rate":[17],"in":[18,31,72,89],"Japan,":[19],"various":[20,83,130],"research":[21],"on":[22,161,180],"robots":[23,36],"has":[24],"been":[25,87,133],"conducted.":[26],"There":[27],"are":[28,37],"many":[29,119],"industries":[30],"which":[32],"applying":[33],"autonomous":[34],"mobile":[35],"important,":[38],"for":[39,44,55],"instance,":[40],"inspection":[42],"system":[43,145,193],"waterway":[45,49,65,114],"tunnels.":[46],"Entering":[47],"tunnel":[50,66,115],"is":[51,67],"a":[52,64,113,144,202],"difficult":[53],"task":[54],"humans,":[56],"thus,":[57],"dark":[59],"damp":[61],"environment":[62],"unfriendly":[68],"humans":[70],"both":[71],"physical":[74],"way":[75],"mental":[77],"ways.":[78],"To":[79,124],"solve":[80],"that":[81,146,190],"problem,":[82],"vSLAM":[84,120],"methods":[85,131],"have":[86,132],"proposed":[88,143,185,192],"past,":[91],"including":[92],"feature-based":[93],"methods,":[94,96],"direct":[95],"RGB-D":[98],"methods.":[99],"However,":[100],"bad":[101],"illuminance":[102],"condition":[103],"unclear":[105],"texture":[106],"ceiling":[109],"walls":[111],"brings":[116],"difficulties":[117],"algorithms":[121],"frameworks.":[123],"improve":[125],"accuracy":[127],"vSLAM,":[129],"proposed,":[134],"such":[135],"as":[136],"sensor":[137],"fusion.":[138],"this":[140],"paper,":[141],"we":[142,174],"contains":[147],"online":[149],"tracking":[150],"using":[151,163],"Intel":[152,168],"REALSENSE":[153,169],"T265":[154],"offline":[157],"map":[158],"reconstruction":[159],"based":[160,179],"opengl":[162],"data":[165],"gathered":[166],"T265.":[170],"For":[171],"experiments,":[173],"conducted":[175],"two":[176],"comparison":[177],"experiments":[178],"openvslam":[181],"framework":[182],"our":[184,191],"system.":[186],"The":[187],"results":[188],"show":[189],"can":[194],"successfully":[195],"track":[196],"camera":[198],"positions":[199],"construct":[201],"map.":[203]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}