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Battery-free UHF-RFID Sensors based SLAM for In-Pipe Robot Perception
  • Amal Gunatilake ,
  • sarath kodagoda ,
  • Karthick Thiyagarajan
Amal Gunatilake
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sarath kodagoda
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Karthick Thiyagarajan
University of Technology Sydney

Corresponding Author:[email protected]

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Water utilities across the globe are concerned with the inspection and replacement of buried metallic water pipes due to corrosion-related structural damages. Internal pipe linings are commonly used as a renewal method to improve structural strength as they are regarded to be a less expensive alternative to costly and time-consuming pipe replacements. However, linings are also prone to failure as well. Therefore, water authorities regularly monitor lining performance, where defect evolution over a long period of time is an important parameter to note. It requires an accurate in-pipe robot localization technology. In this article, we propose a novel method for in-pipe robot localization and tag mapping that uses battery-free UHF-RFID sensor wireless signals. It utilizes a signal mapping approach in combination with a tailored pose-graph simultaneous localization and mapping algorithm. Evaluation results of a field-extracted pipe sample from Sydney Water’s distribution network show the proposed approach is capable of localizing the robot within 2.5cm accuracy in a 50m equivalent pipe with an unknown UHF-RFID distribution. The proposed approach outperformed other reported similar work in the literature.
15 Oct 2022Published in IEEE Sensors Journal volume 22 issue 20 on pages 20019-20026. 10.1109/JSEN.2022.3204682