Bibliografisk noteFunding Information:
Acknowledgments: This research was supported by INLOC Robotics SL, Aalborg University (AAU) and Universitat Politecnica de Catalunya (UPC) under the umbrella of the danish Automated Sewer Inspection Robot (ASIR) project. We thank all members of the ASIR project for the insight and expertise provided that greatly assisted the research, especially our colleagues from AAU. We thank Mark P. Philipsen from AAU for assistance throughout the research development, and Thomas B. Moeslund from AAU for comments that greatly improved the manuscript. We would also like to show our gratitude to Josep Mirats Mirats Tur INLOC Robotics CTO for sharing their pearls of wisdom with us during the course of this research. We would also like to thank Cecilio Angulo from IDEAI-UPC for his advice and supervision during the research. Finally, thanks to Marc Casas we were able to access servers with powerful GPUs, where the experiments were conducted.
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