Anisotropic shadow-based operation assistant for a pipeline-inspection robot using a single illuminator and camera. - Atsushi Kakogawa; Yuki Komurasaki; Shugen Ma (IROS, 2017)

Shadow-Based Operation Assistant for a Pipeline-Inspection Robot Using a Variance Value of the Image Histogram. - Atsushi Kakogawa; Yuki Komurasaki; Shugen Ma (J. Robotics Mechatronics, 2019)