{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,22]],"date-time":"2025-10-22T17:25:05Z","timestamp":1761153905437},"publisher-location":"Cham","reference-count":24,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030223267"},{"type":"electronic","value":"9783030223274"}],"license":[{"start":{"date-parts":[[2019,9,18]],"date-time":"2019-09-18T00:00:00Z","timestamp":1568764800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020]]},"DOI":"10.1007\/978-3-030-22327-4_13","type":"book-chapter","created":{"date-parts":[[2019,9,17]],"date-time":"2019-09-17T15:03:11Z","timestamp":1568732591000},"page":"275-296","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["SIAR: A Ground Robot Solution for Semi-autonomous Inspection of Visitable Sewers"],"prefix":"10.1007","author":[{"given":"David","family":"Alejo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gonzalo","family":"Mier","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Carlos","family":"Marques","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fernando","family":"Caballero","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lu\u00eds","family":"Merino","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paulo","family":"Alvito","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,9,18]]},"reference":[{"key":"13_CR1","unstructured":"ECHORD++: Utility infrastructures and condition monitoring for sewer network. Robots for the inspection and the clearance of the sewer network in cities. \n                    http:\/\/echord.eu\/public\/wp-content\/uploads\/2015\/11\/20141218_Challenge-Brief_Urban_Robotics.pdf\n                    \n                   (2014)"},{"issue":"4","key":"13_CR2","doi-asserted-by":"publisher","first-page":"491","DOI":"10.1002\/rob.20347","volume":"27","author":"Josep M. Mirats Tur","year":"2010","unstructured":"Mirats-Tur, J., Garthwaite, W.: Robotic devices for water main in-pipe inspection: a survey. J. Field Robot., 491\u2013508 (2010)","journal-title":"Journal of Field Robotics"},{"issue":"1","key":"13_CR3","doi-asserted-by":"publisher","first-page":"186","DOI":"10.1002\/rob.20428","volume":"29","author":"Christoph Walter","year":"2011","unstructured":"Walter, C., Saenz, J., Elkmann, N., Althoff, H., Kutzner, S., Stuerze, T.: Design considerations of robotic system for cleaning and inspection of large-diameter sewers. J. Field Robot. 29(1), 186\u2013214","journal-title":"Journal of Field Robotics"},{"key":"13_CR4","unstructured":"Ibak. \n                    http:\/\/www.ibak.de\/"},{"key":"13_CR5","unstructured":"Geolyn. \n                    http:\/\/www.geolyn.ca\/"},{"key":"13_CR6","unstructured":"Solo tracked robots from redzone. \n                    http:\/\/www.redzone.com\/products\/solo-robots\/"},{"key":"13_CR7","unstructured":"Makro\u2019s. Wheeled worm robot. \n                    http:\/\/www.inspector-systems.com\/makro_plus.html"},{"key":"13_CR8","unstructured":"Purerobotics\u2019 pipeline inspection. \n                    http:\/\/www.puretechltd.com\/services\/robotics\/"},{"key":"13_CR9","unstructured":"Serviceroboter. \n                    https:\/\/www.iff.fraunhofer.de\/en\/business-units\/robotic-systems\/sewer-inspection-svm.html"},{"key":"13_CR10","doi-asserted-by":"crossref","unstructured":"Tardioli, D.: A proof-of-concept application of multi-hop robot teleoperation with online map building. In: Proceedings of the 9th IEEE International Symposium on Industrial Embedded Systems (SIES 2014), pp. 210\u2013217. IEEE (2014)","DOI":"10.1109\/SIES.2014.6871206"},{"key":"13_CR11","unstructured":"Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., Ng, A.: ROS: an open-source robot operating system. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Open Source Robotics. Kobe, Japan (2009)"},{"key":"13_CR12","doi-asserted-by":"crossref","unstructured":"Alejo, D., Caballero, F., Merino, L.: RGBD-based robot localization in sewer networks. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4070\u20134076 (2017)","DOI":"10.1109\/IROS.2017.8206263"},{"key":"13_CR13","doi-asserted-by":"crossref","unstructured":"Perez-Grau, F.J., Fabresse, F.R., Caballero, F., Viguria, A., Ollero, A.: Long-term aerial robot localization based on visual odometry and radio-based ranging. In: Proceedings of the 2016 International Conference on Unmanned Aerial Systems. Arlintong, USA (2016)","DOI":"10.1109\/ICUAS.2016.7502653"},{"issue":"1\u20132","key":"13_CR14","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1016\/S0004-3702(01)00069-8","volume":"128","author":"S Thrun","year":"2001","unstructured":"Thrun, S., Fox, D., Burgard, W., Dellaert, F.: Robust Monte Carlo localization for mobile robots. Artif. Intell. 128(1\u20132), 99\u2013141 (2001)","journal-title":"Artif. Intell."},{"issue":"4","key":"13_CR15","doi-asserted-by":"publisher","first-page":"1373","DOI":"10.1016\/j.engappai.2013.01.006","volume":"26","author":"P Papadakis","year":"2013","unstructured":"Papadakis, P.: Terrain traversability analysis methods for unmanned ground vehicles: a survey. Eng. Appl. Artif. Intell. 26(4), 1373\u20131385 (2013)","journal-title":"Eng. Appl. Artif. Intell."},{"issue":"1","key":"13_CR16","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1109\/100.580977","volume":"4","author":"D Fox","year":"1997","unstructured":"Fox, D., Burgard, W., Thrun, S.: The dynamic window approach to collision avoidance. IEEE Robot. Autom. Mag. 4(1), 23\u201333 (1997)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"5","key":"13_CR17","doi-asserted-by":"publisher","first-page":"940","DOI":"10.1002\/rob.21700","volume":"34","author":"Philipp Kr\u00fcsi","year":"2016","unstructured":"Kr\u00fcsi, P., Furgale, P., Bosse, M., Siegwart, R.: Driving on point clouds: motion planning, trajectory optimization, and terrain assessment in generic nonplanar environments. J. Field Robot. 34(5), 940\u2013984","journal-title":"Journal of Field Robotics"},{"key":"13_CR18","unstructured":"Hornung, A., Wurm, K.M., Bennewitz, M., Stachniss, C., Burgard, W.: OctoMap: an efficient probabilistic 3D mapping framework based on octrees. Autonomous Robots (2013). Software available at \n                    http:\/\/octomap.github.com"},{"issue":"4","key":"13_CR19","doi-asserted-by":"publisher","first-page":"31","DOI":"10.1109\/MITS.2010.939925","volume":"2","author":"G Grisetti","year":"2010","unstructured":"Grisetti, G., Kummerle, R., Stachniss, C., Burgard, W.: A tutorial on graph-based slam. IEEE Intell. Transp. Syst. Mag. 2(4), 31\u201343 (2010)","journal-title":"IEEE Intell. Transp. Syst. Mag."},{"key":"13_CR20","doi-asserted-by":"crossref","unstructured":"Perez-Grau, F., Caballero, F., Merino, L., Viguria, A.: Multi-modal mapping and localization of unmanned aerial robots based on ultra-wideband and RGB-D sensing. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24\u201328, pp. 3495\u20133502 (2017)","DOI":"10.1109\/IROS.2017.8206191"},{"key":"13_CR21","doi-asserted-by":"publisher","first-page":"641","DOI":"10.1007\/s10846-015-0198-y","volume":"80","author":"J P\u00e9rez-Lara","year":"2015","unstructured":"P\u00e9rez-Lara, J., Caballero, F., Merino, L.: Enhanced monte carlo localization with visual place recognition for robust robot localization. J. Intell. Robot. Syst. 80, 641\u2013656 (2015)","journal-title":"J. Intell. Robot. Syst."},{"key":"13_CR22","unstructured":"Krizhevsky, A., Sutskever, I., Hinton, G.E.: Imagenet classification with deep convolutional neural networks. In: Advances in Neural Information Processing Systems (2012)"},{"issue":"2","key":"13_CR23","doi-asserted-by":"publisher","first-page":"239","DOI":"10.1109\/34.121791","volume":"14","author":"P.J. Besl","year":"1992","unstructured":"Besl, P.J., McKay, N.D.: A method for registration of 3-d shapes. IEEE Trans. Pattern Anal. Mach. Intell. 14(2), 239\u2013256 (1992)","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"13_CR24","doi-asserted-by":"crossref","unstructured":"Rusu, R.B., Cousins, S.: 3D is here: Point Cloud Library (PCL). In: 2011 IEEE International Conference on Robotics and Automation, pp. 1\u20134 (2011)","DOI":"10.1109\/ICRA.2011.5980567"}],"container-title":["Springer Tracts in Advanced Robotics","Advances in Robotics Research: From Lab to Market"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-22327-4_13","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,17]],"date-time":"2019-09-17T15:04:43Z","timestamp":1568732683000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-030-22327-4_13"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,9,18]]},"ISBN":["9783030223267","9783030223274"],"references-count":24,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-22327-4_13","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2019,9,18]]},"assertion":[{"value":"18 September 2019","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}