{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T20:27:24Z","timestamp":1771532844200,"version":"3.50.1"},"reference-count":50,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2020,9,29]],"date-time":"2020-09-29T00:00:00Z","timestamp":1601337600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/R513313\/1"],"award-info":[{"award-number":["EP\/R513313\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>One of the most fundamental tasks for robots inspecting water distribution pipes is localization, which allows for autonomous navigation, for faults to be communicated, and for interventions to be instigated. Pose-graph optimization using spatially varying information is used to enable localization within a feature-sparse length of pipe. We present a novel method for improving estimation of a robot\u2019s trajectory using the measured acoustic field, which is applicable to other measurements such as magnetic field sensing. Experimental results show that the use of acoustic information in pose-graph optimization reduces errors by 39% compared to the use of typical pose-graph optimization using landmark features only. High location accuracy is essential to efficiently and effectively target investment to maximise the use of our aging pipe infrastructure.<\/jats:p>","DOI":"10.3390\/s20195584","type":"journal-article","created":{"date-parts":[[2020,9,29]],"date-time":"2020-09-29T08:43:27Z","timestamp":1601369007000},"page":"5584","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization"],"prefix":"10.3390","volume":"20","author":[{"given":"Rob","family":"Worley","sequence":"first","affiliation":[{"name":"Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ke","family":"Ma","sequence":"additional","affiliation":[{"name":"Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gavin","family":"Sailor","sequence":"additional","affiliation":[{"name":"Department of Civil and Structural Engineering, University of Sheffield, Sheffield S1 3JD, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michele M.","family":"Schirru","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Sheffield, Sheffield S1 3JD, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8481-2708","authenticated-orcid":false,"given":"Rob","family":"Dwyer-Joyce","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Sheffield, Sheffield S1 3JD, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4681-6895","authenticated-orcid":false,"given":"Joby","family":"Boxall","sequence":"additional","affiliation":[{"name":"Department of Civil and Structural Engineering, University of Sheffield, Sheffield S1 3JD, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tony","family":"Dodd","sequence":"additional","affiliation":[{"name":"Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Richard","family":"Collins","sequence":"additional","affiliation":[{"name":"Department of Civil and Structural Engineering, University of Sheffield, Sheffield S1 3JD, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sean","family":"Anderson","sequence":"additional","affiliation":[{"name":"Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,9,29]]},"reference":[{"key":"ref_1","unstructured":"GOV.UK (2020, July 17). 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