@article{article, title  = {{Simultaneous localization and mapping for inspection robots in water and sewer pipe networks: a review}},

 publisher = {{Institute of Electrical and Electronics Engineers (IEEE)}},

 url = {{https://eprints.whiterose.ac.uk/id/eprint/178604 }},

 year = {{2021}},

 month = {{10}},

 author = {{Aitken J and Evans M and Worley R and Edwards S and Zhang R and Dodd T and Mihaylova L and Anderson S}},

 doi = {{10.1109/ACCESS.2021.3115981}},

 volume = {{9}},

 journal = {{IEEE Access}},

 pages = {{140173-140198}},

 note = {{Accessed on 2025/12/03}}}