{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T07:41:35Z","timestamp":1768549295516,"version":"3.49.0"},"reference-count":32,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,11,23]],"date-time":"2023-11-23T00:00:00Z","timestamp":1700697600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p><jats:bold>Introduction:<\/jats:bold> Our work introduces a real-time robotic localization and mapping system for buried pipe networks.<\/jats:p><jats:p><jats:bold>Methods:<\/jats:bold> The system integrates <jats:italic>non-vision-based<\/jats:italic> exploration and navigation with an <jats:italic>active-vision-based<\/jats:italic> localization and topological mapping algorithm. This algorithm is selectively activated at topologically key locations, such as junctions. <jats:italic>Non-vision-based<\/jats:italic> sensors are employed to detect junctions, minimizing the use of visual data and limiting the number of images taken within junctions.<\/jats:p><jats:p><jats:bold>Results:<\/jats:bold> The primary aim is to provide an accurate and efficient mapping of the pipe network while ensuring real-time performance and reduced computational requirements.<\/jats:p><jats:p><jats:bold>Discussion:<\/jats:bold> Simulation results featuring robots with fully autonomous control in a virtual pipe network environment are presented. These simulations effectively demonstrate the feasibility of our approach in principle, offering a practical solution for mapping and localization in buried pipes.<\/jats:p>","DOI":"10.3389\/frobt.2023.1202568","type":"journal-article","created":{"date-parts":[[2023,11,23]],"date-time":"2023-11-23T14:08:04Z","timestamp":1700748484000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Real-time robot topological localization and mapping with limited visual sampling in simulated buried pipe networks"],"prefix":"10.3389","volume":"10","author":[{"given":"Xiangyu S.","family":"Li","sequence":"first","affiliation":[]},{"given":"T. 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