{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:00:17Z","timestamp":1766066417238},"reference-count":27,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2014,7,9]],"date-time":"2014-07-09T00:00:00Z","timestamp":1404864000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2016,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Elbows and branches in pipelines produce unique image patterns, which can be used as landmarks for autonomous navigation inside the pipelines. This paper presents two landmark detection methods, known as shadow-based method and laser projection method. The first method uses the landmark's unique patterns of shadow produced by the robot's illuminator. The other method exploits special line features generated by its own line-laser beam projector. The basic algorithms for extracting the landmarks are given and special sensor mechanisms are addressed respectively. Finally, the detection performances of each method are validated in various pipeline conditions by using an in-pipe robot, called MRINSPECT-V.<\/jats:p>","DOI":"10.1017\/s0263574714001726","type":"journal-article","created":{"date-parts":[[2014,7,9]],"date-time":"2014-07-09T13:47:07Z","timestamp":1404913627000},"page":"601-618","source":"Crossref","is-referenced-by-count":19,"title":["Landmark detection methods for in-pipe robot traveling in urban gas pipelines"],"prefix":"10.1017","volume":"34","author":[{"given":"Dong-Hyuk","family":"Lee","sequence":"first","affiliation":[]},{"given":"Hyungpil","family":"Moon","sequence":"additional","affiliation":[]},{"given":"Hyouk Ryeol","family":"Choi","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,7,9]]},"reference":[{"key":"S0263574714001726_ref17","first-page":"1559","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Lee","year":"2011"},{"key":"S0263574714001726_ref11","first-page":"62","volume-title":"Proceedings of the International Conference on Simulation of Adaptive Behavior","author":"Kolesnik","year":"2002"},{"key":"S0263574714001726_ref10","first-page":"724","volume-title":"Proceedings of the International Conference on Advanced Intelligent Mechatronics","author":"Kepplin","year":"1999"},{"key":"S0263574714001726_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2010.2095392"},{"key":"S0263574714001726_ref4","first-page":"4858","volume-title":"Proceedings of the IEEE International Conference Robotics and Automation","author":"Gomez","year":"2004"},{"key":"S0263574714001726_ref12","first-page":"365","volume-title":"Proceedings of the Conference on Current Trends in Theory and Practice of Informatics","author":"Hlavac","year":"2000"},{"key":"S0263574714001726_ref2","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1007\/s11370-012-0109-z","article-title":"Holography map for home robot: An object-oriented approach","volume":"5","author":"Wo","year":"2012","journal-title":"Intell. 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