# Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization

> Research article (Sensors, 2020) · cited 19× · AI/ML

**Wikidata**: [openalex:W3091385058](https://www.wikidata.org/wiki/openalex:W3091385058)  
**Source**: https://4ort.xyz/entity/robot-localization-in-water-pipes-using-acoustic-signals-and-pose-graph-optimization