Localization in tunnel for periodic inspection of tunnel
Akitaka SATO, Riku ESAKI, Yoshiharu AMANO, Kiichirou ISHIKAWA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2020
In japan, robot technology for efficient tunnel inspection is required. MIMM is one of the tunnel inspection systems using robot technology. To find the deformation of the tunnel surface, it is required to analyze the difference between the two periods survey result. For that purpose, it is necessary to aligns two point clouds in precisely. But the cumulative error is caused by GNSS/IMU positioning system make it difficult to align two point clouds. Hence, there are needs for more precise positioning system for tunnel survey. Our purpose is to perform high-accuracy positioning system for tunnel survey. We proposed a new positioning method using tunnel facilities. Through evaluation test, it was confirmed that the accuracy of the proposed method was higher than that of the conventional method. In this paper, we detail to the method and evaluation test result.