Robot mapping and localisation in metal water pipes using hydrophone induced vibration and map alignment by dynamic time warping.
Ke MaMichele M. SchirruAli Hassan ZahraeeRob Dwyer-JoyceJoby B. BoxallTony J. DoddRichard CollinsSean R. AndersonPublished in: ICRA (2017)
Keyphrases
- dynamic time warping
- loop closing
- mobile robot
- water distribution
- simultaneous localization and mapping
- water flow
- lower bounding
- distance measure
- shape retrieval
- similarity measure
- euclidean distance
- topological map
- robot moves
- similarity search
- nearest neighbor classifier
- quasi periodic
- edit distance
- word spotting
- elastic matching
- loop closure
- map building
- signature verification
- longest common subsequence
- humanoid robot
- sequence matching
- subsequence matching