WANG, Siyu; HAO, Jiayi; ZHANG, Guijing; ZHANG, Ruxin; CHENG, Ruihan. A Spiral-Driven In-Pipe Detection Robot with RGB-D Recognition and Quantification Algorithm for Thermal Bulge Inspection. International Core Journal of Engineering, [S. l.], v. 12, n. 4, p. 205–218, 2026. DOI: 10.6919/ICJE.202604_12(4).0023. Disponível em: https://icj-e.org/index.php/ojs/article/view/311. Acesso em: 21 apr. 2026.