Masahiro Muramatsu

Papers

Total Citations

H-Index

About

Masahiro Muramatsu is a pioneer in the development of autonomous robotic systems for confined industrial environments, with a primary focus on in-pipe inspection and maintenance. His research centers on mobile robotics, computer vision, and automated welding control, addressing critical challenges in pipeline infrastructure. Muramatsu’s most influential work introduced an autonomous mobile robot capable of navigating complex pipe networks—including horizontal, vertical, and 90-degree elbow joints—while equipped with a vision sensor and operating arm for direct piping operations (48 citations). He further advanced the field by developing an omnidirectional vision-based ego-pose estimation method, enabling precise self-localization for robots traversing straight pipes, elbows, and multi-branch configurations (17 citations). In a notable application to industrial welding, Muramatsu designed a mobile robot system that monitors and controls back bead width during fixed-pipe welding, overcoming the difficulty of maintaining optimal weld quality across varying positions (15 citations). His contributions have laid essential groundwork for autonomous infrastructure inspection and repair, demonstrating how integrated sensing and mobility can replace dangerous manual tasks in confined spaces.