Overview
A capstone robotic platform for 3D reconstruction and material analysis of medium-sized pipes using 2D LiDAR and ToF sensors, with a React-based GUI and MQTT communication.
Details
MicroPiro (based on the S100 platform) is a robotic system designed for 3D reconstruction and material analysis inside medium-sized pipes. Revived from an incomplete UTS Robotics Institute project and developed as a capstone.
Key Features
- Single Teensy MCU for control
- MQTT broker over Ethernet for base station communication
- React + ElectronJS GUI with real-time 3D IMU visualisation
- Fully operable on Windows and Linux without ROS
- ROS Noetic compatible via ROS bridge
- Hokuyo 2D LiDAR and TMF8801 ToF sensor calibration scripts
Roadmap
Planned additions for future iterations:
- 3D mapping using the 2D LiDAR with ROS
- AI material classification using sensor intensity readings to distinguish concrete lining from metal pipe wall
- Optical tracking odometry - an innovative approach replacing wheel encoders with an optical tracking sensor for more accurate localisation in pipes