Autonomous mobile robot in pipe for piping operations. - Masahiro Muramatsu; Naohiro Namiki; Ritsuo Koyama; Yasuo Suga (IROS, 2000)

Omnidirectional vision-based ego-pose estimation for an autonomous in-pipe mobile robot. - Jongcheol Kim; Masahiro Muramatsu; Yuichiro Murata; Yasuo Suga (Adv. Robotics, 2007)