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A Robust Localization System for Inspection Robots in Sewer Networks.

David Alejo¹, Fernando Caballero², Luis Merino¹

¹School of Engineering, Universidad Pablo de Olavide, 41012 Sevilla, Spain.

Sensors (Basel, Switzerland)

|November 27, 2019

Summary

This study introduces a mobile robot for sewer inspection, enhancing safety and maintenance. The system accurately pinpoints issues like cracks and blockages within sewer networks using advanced localization.

Keywords:

GPS-denied Monte Carlo Localization field robotics global pose estimation localization sewer network underground robotics

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Area of Science:

Robotics and Urban Infrastructure Management
Geospatial Information Systems
Environmental Monitoring

Background:

Sewer networks are critical urban infrastructure requiring regular monitoring.
The extensive length of sewers limits the applicability of traditional sensor networks.
Existing inspection methods lack precise localization capabilities for identified issues.

Purpose of the Study:

To present a mobile inspection platform (SIAR) for sewer networks.
To develop a robust global pose estimation system for sewers.
To enable precise geo-localization of detected sewer defects and anomalies.

Main Methods:

Utilized a Monte Carlo Localization (MCL) system fused with wheel and RGB-D odometry.
Incorporated sewer network topology, cross-section data, and manhole positions for localization.
Developed novel updating steps for discrete element detection and relative orientation estimation.
Validated the system using real-world data from Barcelona's sewer network.

Main Results:

The SIAR platform effectively senses gas concentrations and detects sewer failures (cracks, holes, flow issues).
The proposed localization system achieves median localization errors of approximately one meter.
Comparisons with state-of-the-art SLAM systems demonstrate the approach's advantages.

Conclusions:

The developed mobile platform and localization system are effective for sewer inspection.
Precise geo-localization of defects facilitates efficient maintenance and repair operations.
The system offers a viable and accurate solution for monitoring aging urban sewer infrastructure.