Anisotropic shadow-based operation assistant for a pipeline-inspection robot using a single illuminator and camera
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents an anisotropic shadow-based operation assistant method for a multilink-articulated wheeled pipeline-inspection robot by using a single illuminator and camera. By displacing the position of the illuminator relative to that of the head camera, a crescent-shaped shadow appears in the images captured in a bent pipe. The size, position, and orientation of the shadow depend on the robot's orientation around the pipe axis, and the shadow disappears in a certain robot's orientation (anisotropic shadow). Generally, as for shadow based navigation systems, disappearances of the shadow should be avoided because the robot loses its way. However, our previously developed robot (AIRo-2) adapts to a bent pipe without any control when the robot's orientation and the pathway direction of the bent pipe are aligned. By aligning those two specific orientations, we propose operation assistant system to pass through winding pipes. In this paper, the shadow region is extracted using two types of image binarization. The proposed system was experimentally verified in pipelines including seven bent pipes by applying the pathway direction of the bent pipe (obtained from the shadow) to the rolling movement of the robot.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it