@techreport{oai:ipsj.ixsq.nii.ac.jp:00233998,
 author = {Lukasz, Baldyga and Thanh, V. Pham and Hiroyuki, Yamada and Masahiro, Ishikawa and Susumu, Ishihara and Lukasz, Baldyga and Thanh, V. Pham and Hiroyuki, Yamada and Masahiro, Ishikawa and Susumu, Ishihara},
 issue = {23},
 month = {May},
 note = {Rainwater drainage is a relevant part of a city's civil infrastructure. Due to their importance and the environmental conditions that they are being affected by erosion, earth movements, earthquakes, etc., they need to be regularly monitored to ensure sufficient water flowability and safety. Inspections are usually performed manually, which requires much-skilled manpower and poses a danger to the inspection personnel. Due to the relatively narrow dimensions of water drainage, such inspections also take significant time, further increasing the costs. Those constraints create a need for an automated system to digitally monitor the physical state of rainwater drainage based on automated mapping devices. Unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) help realize automated systems. However, the lack of global navigation satellite system (GNSS) connectivity in the underground drainage restricts the realization of accurate navigation and detection of the positions of damages of the facility. Therefore, we propose a basic concept of a low-cost inspection device and discuss the problematic aspects and prospective measures to combat the problems in designing those systems., Rainwater drainage is a relevant part of a city's civil infrastructure. Due to their importance and the environmental conditions that they are being affected by erosion, earth movements, earthquakes, etc., they need to be regularly monitored to ensure sufficient water flowability and safety. Inspections are usually performed manually, which requires much-skilled manpower and poses a danger to the inspection personnel. Due to the relatively narrow dimensions of water drainage, such inspections also take significant time, further increasing the costs. Those constraints create a need for an automated system to digitally monitor the physical state of rainwater drainage based on automated mapping devices. Unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) help realize automated systems. However, the lack of global navigation satellite system (GNSS) connectivity in the underground drainage restricts the realization of accurate navigation and detection of the positions of damages of the facility. Therefore, we propose a basic concept of a low-cost inspection device and discuss the problematic aspects and prospective measures to combat the problems in designing those systems.},
 title = {Rainwater Drainage Inspection Assistance System Basic Concept and Considerations},
 year = {2024}
}