112515 20240319080954.0 doi 10.3390/s22041390 sideral 128232 ART-2022-128232 eng Seco, Teresa Robot Localization in Tunnels: Combining Discrete Features in a Pose Graph Framework; 35214292 2022 Access copy available to the general public Unrestricted Robot localization inside tunnels is a challenging task due to the special conditions of these environments. The GPS-denied nature of these scenarios, coupled with the low visibility, slippery and irregular surfaces, and lack of distinguishable visual and structural features, make traditional robotics methods based on cameras, lasers, or wheel encoders unreliable. Fortunately, tunnels provide other types of valuable information that can be used for localization purposes. On the one hand, radio frequency signal propagation in these types of scenarios shows a predictable periodic structure (periodic fadings) under certain settings, and on the other hand, tunnels present structural characteristics (e.g., galleries, emergency shelters) that must comply with safety regulations. The solution presented in this paper consists of detecting both types of features to be introduced as discrete sources of information in an alternative graph-based localization approach. The results obtained from experiments conducted in a real tunnel demonstrate the validity and suitability of the proposed system for inspection applications. © 2022 by the authors. Licensee MDPI, Basel, Switzerland. info:eu-repo/grantAgreement/ES/DGA-FSE/T45-20R info:eu-repo/grantAgreement/ES/MINECO-FEDER/PID2019-105390RB-I00 info:eu-repo/semantics/openAccess by http://creativecommons.org/licenses/by/3.0/es/ 3.9 2022 CHEMISTRY, ANALYTICAL 26 / 86 = 0.302 2022 Q2 T1 INSTRUMENTS & INSTRUMENTATION 19 / 63 = 0.302 2022 Q2 T1 ENGINEERING, ELECTRICAL & ELECTRONIC 100 / 274 = 0.365 2022 Q2 T2 0.764 2022 Instrumentation 2022 Q1 Analytical Chemistry 2022 Q1 Medicine (miscellaneous) 2022 Q2 Information Systems 2022 Q2 Biochemistry 2022 Q2 Atomic and Molecular Physics, and Optics 2022 Q2 Electrical and Electronic Engineering 2022 Q2 6.8 2022 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Lázaro, María T. Espelosín, Jesús Montano, Luis Universidad de Zaragoza (orcid)0000-0002-0449-2300 Villarroel, José L. Universidad de Zaragoza (orcid)0000-0002-7148-4642 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 22, 4 (2022), 1390 - [35 pp] Sensors Sensors 1424-8220 16658092 http://zaguan.unizar.es/record/112515/files/texto_completo.pdf Versión publicada 2686728 http://zaguan.unizar.es/record/112515/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:112515 articulos driver 2024-03-18-13:22:41 ARTICLE