{"id":"https://openalex.org/W3142290225","doi":"https://doi.org/10.3390/s21072553","title":"3D Sensors for Sewer Inspection: A Quantitative Review and Analysis","display_name":"3D Sensors for Sewer Inspection: A Quantitative Review and Analysis","publication_year":2021,"publication_date":"2021-04-06","ids":{"openalex":"https://openalex.org/W3142290225","doi":"https://doi.org/10.3390/s21072553","mag":"3142290225","pmid":"https://pubmed.ncbi.nlm.nih.gov/33917392"},"language":"en","primary_location":{"id":"doi:10.3390/s21072553","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21072553","pdf_url":"https://www.mdpi.com/1424-8220/21/7/2553/pdf?version=1617940700","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"review","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/7/2553/pdf?version=1617940700","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027786603","display_name":"Chris Bahnsen","orcid":"https://orcid.org/0000-0002-8665-2418"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Chris H. Bahnsen","raw_affiliation_strings":["Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-8665-2418","affiliations":[{"raw_affiliation_string":"Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Anders S. Johansen","orcid":"https://orcid.org/0000-0002-9084-2812"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Anders S. Johansen","raw_affiliation_strings":["Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-9084-2812","affiliations":[{"raw_affiliation_string":"Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042215335","display_name":"Mark Philip Philipsen","orcid":"https://orcid.org/0000-0002-9212-2544"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Mark P. Philipsen","raw_affiliation_strings":["Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-9212-2544","affiliations":[{"raw_affiliation_string":"Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019309452","display_name":"Jesper W. Henriksen","orcid":"https://orcid.org/0000-0001-8542-0001"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Jesper W. Henriksen","raw_affiliation_strings":["Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0001-8542-0001","affiliations":[{"raw_affiliation_string":"Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041199606","display_name":"Kamal Nasrollahi","orcid":"https://orcid.org/0000-0002-1953-0429"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Kamal Nasrollahi","raw_affiliation_strings":["Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-1953-0429","affiliations":[{"raw_affiliation_string":"Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022176859","display_name":"Thomas B. Moeslund","orcid":"https://orcid.org/0000-0001-7584-5209"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Thomas B. Moeslund","raw_affiliation_strings":["Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0001-7584-5209","affiliations":[{"raw_affiliation_string":"Visual Analysis and Perception (VAP) Lab, Aalborg University, Rendsburggade 14, 9000 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5027786603"],"corresponding_institution_ids":["https://openalex.org/I891191580"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":9.9947,"has_fulltext":true,"cited_by_count":38,"citation_normalized_percentile":{"value":0.98082633,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"21","issue":"7","first_page":"2553","last_page":"2553"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.995199978351593,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9926000237464905,"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/point-cloud","display_name":"Point cloud","score":0.7884540557861328},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6704416275024414},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5509973764419556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5475555062294006},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5399551391601562},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5274857878684998},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5217458009719849},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5157814025878906},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5030826926231384},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4852430820465088},{"id":"https://openalex.org/keywords/sanitary-sewer","display_name":"Sanitary sewer","score":0.44483301043510437},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.43722009658813477},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.235176682472229},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.173330157995224}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7884540557861328},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6704416275024414},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5509973764419556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5475555062294006},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5399551391601562},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5274857878684998},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5217458009719849},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5157814025878906},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5030826926231384},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4852430820465088},{"id":"https://openalex.org/C190714865","wikidata":"https://www.wikidata.org/wiki/Q1805497","display_name":"Sanitary sewer","level":2,"score":0.44483301043510437},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.43722009658813477},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.235176682472229},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.173330157995224},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s21072553","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21072553","pdf_url":"https://www.mdpi.com/1424-8220/21/7/2553/pdf?version=1617940700","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:33917392","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33917392","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pure.atira.dk:publications/eb3307be-8663-4e7b-ad45-9943b69046e0","is_oa":true,"landing_page_url":"https://vbn.aau.dk/da/publications/eb3307be-8663-4e7b-ad45-9943b69046e0","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Bahnsen, C H, Johansen, A S, Philipsen, M P, Henriksen, J W, Nasrollahi, K & Moeslund, T B 2021, '3D Sensors for Sewer Inspection: A Quantitative Review and Analysis', Sensors, vol. 21, no. 7, 2553. https://doi.org/10.3390/s21072553","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:1b855a1a4c9d456e94e85bac70f18ff1","is_oa":true,"landing_page_url":"https://doaj.org/article/1b855a1a4c9d456e94e85bac70f18ff1","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 7, p 2553 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/7/2553/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21072553","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 21; Issue 7; Pages: 2553","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8038671","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8038671","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21072553","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21072553","pdf_url":"https://www.mdpi.com/1424-8220/21/7/2553/pdf?version=1617940700","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6399999856948853}],"awards":[{"id":"https://openalex.org/G3906625161","display_name":null,"funder_award_id":"8055-00015A","funder_id":"https://openalex.org/F4320313796","funder_display_name":"Innovationsfonden"}],"funders":[{"id":"https://openalex.org/F4320313796","display_name":"Innovationsfonden","ror":"https://ror.org/00daj4111"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3142290225.pdf","grobid_xml":"https://content.openalex.org/works/W3142290225.grobid-xml"},"referenced_works_count":75,"referenced_works":["https://openalex.org/W1482916814","https://openalex.org/W1536814187","https://openalex.org/W1602245894","https://openalex.org/W1841367079","https://openalex.org/W1972890449","https://openalex.org/W1975809100","https://openalex.org/W1989329448","https://openalex.org/W1991001143","https://openalex.org/W1999233420","https://openalex.org/W2000018820","https://openalex.org/W2003767020","https://openalex.org/W2006502673","https://openalex.org/W2017261248","https://openalex.org/W2021969791","https://openalex.org/W2037680445","https://openalex.org/W2044183523","https://openalex.org/W2058614782","https://openalex.org/W2059187675","https://openalex.org/W2091393592","https://openalex.org/W2091731993","https://openalex.org/W2092139442","https://openalex.org/W2101874720","https://openalex.org/W2102693043","https://openalex.org/W2109649255","https://openalex.org/W2117170943","https://openalex.org/W2121066929","https://openalex.org/W2124426463","https://openalex.org/W2158783084","https://openalex.org/W2159215254","https://openalex.org/W2161913511","https://openalex.org/W2183584171","https://openalex.org/W2248634496","https://openalex.org/W2270963717","https://openalex.org/W2291294579","https://openalex.org/W2319503556","https://openalex.org/W2520707372","https://openalex.org/W2547727019","https://openalex.org/W2548741013","https://openalex.org/W2556513418","https://openalex.org/W2561323410","https://openalex.org/W2591206237","https://openalex.org/W2742452757","https://openalex.org/W2744119056","https://openalex.org/W2751451999","https://openalex.org/W2771703806","https://openalex.org/W2806446538","https://openalex.org/W2811042418","https://openalex.org/W2901119925","https://openalex.org/W2905835817","https://openalex.org/W2950119225","https://openalex.org/W2955555969","https://openalex.org/W2970302264","https://openalex.org/W2973711412","https://openalex.org/W2973985748","https://openalex.org/W2979514028","https://openalex.org/W2991627753","https://openalex.org/W2996630165","https://openalex.org/W3000005686","https://openalex.org/W3008063661","https://openalex.org/W3010877654","https://openalex.org/W3030526828","https://openalex.org/W3106129785","https://openalex.org/W3119125356","https://openalex.org/W3119523940","https://openalex.org/W3170015791","https://openalex.org/W3185196058","https://openalex.org/W4233713099","https://openalex.org/W4246582073","https://openalex.org/W4250501149","https://openalex.org/W6610233361","https://openalex.org/W6654399604","https://openalex.org/W6675854019","https://openalex.org/W6686269243","https://openalex.org/W6739647764","https://openalex.org/W6832921062"],"related_works":["https://openalex.org/W636499331","https://openalex.org/W4238923964","https://openalex.org/W2108013114","https://openalex.org/W4256631478","https://openalex.org/W1919243393","https://openalex.org/W2363886831","https://openalex.org/W1571951087","https://openalex.org/W2294114979","https://openalex.org/W2223543208","https://openalex.org/W2105706727"],"abstract_inverted_index":{"Automating":[0],"inspection":[1,19,33,64],"of":[2,22,25,58,62,65,70,98,115,151,165,172,190],"critical":[3],"infrastructure":[4],"such":[5],"as":[6,27,95],"sewer":[7,32],"systems":[8],"will":[9],"help":[10],"utilities":[11],"optimize":[12],"maintenance":[13],"and":[14,41,43,86,125,162,193],"replacement":[15],"schedules.":[16],"The":[17,36,89,111,131,148,170],"current":[18],"process":[20,37],"consists":[21],"manual":[23],"reviews":[24],"video":[26],"an":[28,127],"operator":[29],"controls":[30],"a":[31,45,55,122],"vehicle":[34],"remotely.":[35],"is":[38,93,118,154,185],"slow,":[39],"labor-intensive,":[40],"expensive":[42],"presents":[44],"huge":[46],"potential":[47],"for":[48,79],"automation.":[49],"With":[50],"this":[51],"work,":[52],"we":[53],"address":[54],"central":[56],"component":[57],"the":[59,68,96,99,104,116,136,145,152,168,173,177,182,188,191],"next":[60],"generation":[61],"robotic":[63],"sewers,":[66],"namely":[67],"choice":[69],"3D":[71,80,112,142],"sensing":[72],"technology.":[73],"We":[74],"investigate":[75],"three":[76],"prominent":[77],"techniques":[78,102],"vision:":[81],"passive":[82,194],"stereo,":[83,85],"active":[84,192],"time-of-flight":[87],"(ToF).":[88],"Realsense":[90],"D435":[91],"camera":[92],"chosen":[94],"representative":[97],"first":[100],"two":[101],"wheres":[103],"PMD":[105],"CamBoard":[106],"pico":[107,183],"flexx":[108,184],"represents":[109],"ToF.":[110],"reconstruction":[113,149],"performance":[114,150],"sensors":[117,137,153],"assessed":[119],"in":[120,126,167],"both":[121],"laboratory":[123],"setup":[124],"outdoor":[128],"above-ground":[129],"setup.":[130],"acquired":[132],"point":[133,179],"clouds":[134],"from":[135,181],"are":[138],"compared":[139],"with":[140,156],"reference":[141],"models":[143],"using":[144],"cloud-to-mesh":[146],"metric.":[147],"tested":[155],"respect":[157],"to":[158,187],"different":[159,163],"illuminance":[160],"levels":[161,164],"water":[166],"pipes.":[169],"results":[171],"tests":[174],"show":[175],"that":[176],"ToF-based":[178],"cloud":[180],"superior":[186],"output":[189],"stereo":[195],"cameras.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}