@article{article, title  = {{Visual simultaneous localisation and mapping for sewer pipe networks leveraging cylindrical regularity}},

 publisher = {{Institute of Electrical and Electronics Engineers}},

 url = {{https://eprints.whiterose.ac.uk/id/eprint/198087 }},

 year = {{2023}},

 month = {{4}},

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

 doi = {{10.1109/LRA.2023.3268013}},

 volume = {{8}},

 journal = {{IEEE Robotics and Automation Letters}},

 issue = {{6}},

 pages = {{3406-3413}},

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