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Robot assisted gas tomography: localizing methane leaks in outdoor environments
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0001-5061-5474
Örebro University, School of Science and Technology. (AASS MRO Lab)
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0002-6013-4874
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-0217-9326
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2014 (English)In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2014Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we present an inspection robot to produce gas distribution maps and localize gas sources in large outdoor environments. The robot is equipped with a 3D laser range finder and a remote gas sensor that returns integral concentration measurements. We apply principles of tomography to create a spatial gas distribution model from integral gas concentration measurements. The gas distribution algorithm is framed as a convex optimization problem and it models the mean distribution and the fluctuations of gases. This is important since gas dispersion is not an static phenomenon and furthermore, areas of high fluctuation can be correlated with the location of an emitting source. We use a compact surface representation created from the measurements of the 3D laser range finder with a state of the art mapping algorithm to get a very accurate localization and estimation of the path of the laser beams. In addition, a conic model for the beam of the remote gas sensor is introduced. We observe a substantial improvement in the gas source localization capabilities over previous state-of-the-art in our evaluation carried out in an open field environment.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2014.
Series
IEEE Conference Publications, ISSN 1050-4729
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-37010DOI: 10.1109/ICRA.2014.6907798ISI: 000377221106061ISBN: 978-1-4799-3685-4 (print)OAI: oai:DiVA.org:oru-37010DiVA: diva2:748129
Conference
IEEE International Conference on Robotics and Automation (ICRA) 2014. Hong Kong, China. May 31, June 7
Projects
Gasbot
Available from: 2014-09-18 Created: 2014-09-18 Last updated: 2017-10-18Bibliographically approved

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Hernandez Bennetts, VictorSchaffernicht, ErikStoyanov, TodorLilienthal, Achim J.Trincavelli, Marco

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