[1] Shen Y. Research on flaw location algorithms of the smart PIG for pipeline inspecting[J]. Science Technology and Engineering, 8, 5603-5607, 5615(2008).

[2] Nagaya K, Yoshino T, Katayama M et al. Wireless piping inspection vehicle using magnetic adsorption force[J]. IEEE/ASME Transactions on Mechatronics, 17, 472-479(2012).

[3] Huang B C, Zhao J, Liu J B. A survey of simultaneous localization and mapping[EB/OL]. https://arxiv.org/abs/1909.05214

[4] Chen Z J, Feng Y, Liu H C. Vision-based navigation algorithms for pipeline weld inspection robot[J]. Welding Technology, 34, 11-13, 87(2005).

[5] Zhou N. Research on camera location based on monocular vision[D](2007).

[6] Guo F Z, Yang L J. Pipe weld location method based on inertial measurement[J]. Electronics World, 120-121(2020).

[7] Peng H H, Liu F F, Dai Y Y et al. Application research of industrial robot sorting system based on mobile vision[J]. Modern Electronics Technique, 43, 26-30(2020).

[8] Chen X Z, Chen S B, Lin T et al. Practical method to locate the initial weld position using visual technology[J]. The International Journal of Advanced Manufacturing Technology, 30, 663-668(2006).

[9] Zhang X H, Fu Z, Zhou X et al. A vision sensor based method for position measuring of pipeline robot[J]. Robot, 19, 191-196(1997).

[10] Zou W, Yu J Z, Xu D et al. Monocular vision measurement system based on ARM microprocessor[J]. Control Engineering of China, 17, 509-512(2010).

[11] Cadena C, Carlone L, Carrillo H et al. Past, present, and future of simultaneous localization and mapping: toward the robust-perception age[J]. IEEE Transactions on Robotics, 32, 1309-1332(2016).

[12] Lowe D G. Distinctive image features from scale-invariant keypoints[J]. International Journal of Computer Vision, 60, 91-110(2004).

[13] Bay H, Tuytelaars T, van Gool L. SURF: speeded up robust features[M]. Leonardis A, Bischof H, Pinz A. Computer vision-ECCV 2006, 3951, 404-417(2006).

[14] Rublee E, Rabaud V, Konolige K et al. ORB: an efficient alternative to SIFT or SURF[C], 2564-2571(2011).

[15] Rosten E, Drummond T. Machine learning for high-speed corner detection[M]. Leonardis A, Bischof H, Pinz A. Computer vision-ECCV 2006, 3951, 430-443(2006).

[16] Calonder M, Lepetit V, Strecha C et al. Brief: binary robust independent elementary features[M]. Daniilidis K, Maragos P, Paragios N. Computer vision-ECCV 2010, 6314, 778-792(2010).

[17] Campos C, Elvira R, Rodríguez J J G et al. ORB-SLAM3: an accurate open-source library for visual, visual-inertial, and multimap SLAM[J]. IEEE Transactions on Robotics, 37, 1874-1890(2021).

[18] Mur-Artal R, Tardós J D. ORB-SLAM2: an open-source SLAM system for monocular, stereo, and RGB-D cameras[J]. IEEE Transactions on Robotics, 33, 1255-1262(2017).

[19] Baker S, Matthews I. Lucas-Kanade 20 years on: a unifying framework[J]. International Journal of Computer Vision, 56, 221-255(2004).

[20] Engel J, Schöps T, Cremers D. LSD-SLAM: large-scale direct monocular SLAM[M]. Fleet D, Pajdla T, Schiele B, et al. Computer vision-ECCV 2014, 8690, 834-849(2014).

[21] Wang R, Schwörer M, Cremers D. Stereo DSO: large-scale direct sparse visual odometry with stereo cameras[C], 3923-3931(2017).

[22] Liu M Q, Zhang X G, Xu G Y et al. Review of development of single robot SLAM technology and related mainstream technology[J]. Computer Engineering and Applications, 56, 25-35(2020).

[23] Engel J, Sturm J, Cremers D. Semi-dense visual odometry for a monocular camera[C], 1449-1456(2013).

[24] Forster C, Pizzoli M, Scaramuzza D. SVO: fast semi-direct monocular visual odometry[C], 15-22(2014).

[25] Gomez-Ojeda R, Briales J, Gonzalez-Jimenez J. PL-SVO: semi-direct monocular visual odometry by combining points and line segments[C], 4211-4216(2016).

[26] Zhang Q, Zhao X X. Review of moving target detection methods[J]. Electronics World, 2019, 65.

[27] Feng Q S, Wang Y Q, Zhang Y P et al. Automatic detection of the interiorly welded joints of pipelines from video for remote visual inspector[C], 2001-2005(2014).

[28] Dong X, Feng Q S, Xia J F et al. An innovative method for locating the welded circular seam on the inner surface of cylinder pipeline to inspector robot[J]. Journal of Physics: Conference Series, 1631, 012045(2020).

[29] Wang F C. A solving method of overdetermined equations systems by genetic algorithms[J]. Journal of Shaoguan University, 28, 15-17(2007).

[30] Wang S H. Research of genetic algorithm and its application in numerical computation[D](2005).

[31] Jiang D C, He F, Xiang J W. Realization of function optimization with genetic algorithm in Matlab[J]. Journal of Jishou University (Natural Science Edition), 26, 98-100, 106(2005).

[32] Zhang C Q, Zheng J G, Qian J. Comparison of coding schemes for genetic algorithms[J]. Application Research of Computers, 28, 819-822(2011).