# Application of Adaptive Cubature Kalman Filter to In-Pipe Survey System for 3D Small-Diameter Pipeline Mapping

> Research article (IEEE Sensors Journal, 2020) · cited 14× · AI/ML

**Wikidata**: [openalex:W3009335766](https://www.wikidata.org/wiki/openalex:W3009335766)  
**Source**: https://4ort.xyz/entity/application-of-adaptive-cubature-kalman-filter-to-in-pipe-survey-system-for-3d-small-diameter-pipeline-mapping