visualized pipeline model

Visualized Small-size Pipeline Model Building Using Multilink-articulated Wheeled In-pipe Inspection Robot
This paper proposes a solution using a wheeled robot and IMU/encoder sensors to create a visual model of small pipelines, with a multi-sensor fusion algorithm and gravity error elimination, verified through experiments in a U-shaped pipeline.
Visualized Small-size Pipeline Model Building Using Multilink-articulated Wheeled In-pipe Inspection Robot