Battery-Free UHF-RFID Sensors-Based SLAM for In-Pipe Robot Perception

Water utilities across the globe are concerned with inspection and replacement of buried metallic water pipes due to corrosion-related structural damages. Internal pipe linings commonly used as a renewal method improve strength they regarded be less expensive alternative costly time-consuming replacements. However, also prone failure well. Therefore, authorities regularly monitor lining performance, where defect evolution over long period time is an important parameter note. It requires accurate in-pipe robot localization technology. In this article, we propose novel for tag mapping that uses battery-free ultra high frequency (UHF)-radio-frequency identification (RFID) sensor wireless signals. utilizes signal approach in combination tailored pose-graph simultaneous (SLAM) algorithm. Evaluation results field-extracted sample from Sydney Water’s distribution network show proposed capable localizing within 2.5 cm accuracy 50-m equivalent unknown UHF-RFID distribution. The outperformed other reported similar work literature.