Investigation of Self-Position Estimation Method with Inertial Sensor and Image Information in Moving Mechanism for Underground Buried Object Inspection

Abstract

When inspecting infrastructure buried in the ground such as pipeline, it is necessary to investigate the existence of other buried objects. As a method studied for that purpose, there is a method in which a hand-operated cart with a ground penetrating radar is moved on the ground in an area to be investigated for measurement. It is expected that information can be effectively utilized by estimating the position of the cart and correlating it with the data of the underground radar. In this paper we propose self-position estimation method using small image sensor and acceleration sensor. Furthermore, we verify the effectiveness of the proposed method by demonstration experiment.