Automatic Detection of Valves with Disaster Response Robot on Basis of Depth Camera Information

Keishi Nishikawa, Jun Ohya, Takashi Matsuzawa, Atsuo Takanishi, Hiroyuki Ogata, Kenji Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In recent years, there has been an increasing demand for disaster response robots designed for working in disaster sites such as nuclear power plants where accidents have occurred. One of the tasks the robots need to complete at these kinds of sites is turning a valve. In order to employ robots to perform this task at real sites, it is desirable that the robots have autonomy for detecting the valves to be manipulated. In this paper, we propose a method that allows a disaster response robot to detect a valve, whose parameters such as position, orientation and size are unknown, based on information captured by a depth camera mounted on the robot. In our proposed algorithm, first the target valve is detected on the basis of an RGB image captured by the depth camera, and 3D point cloud data including the target is reconstructed by combining the detection result and the depth image. Second, the reconstructed point cloud data is processed to estimate parameters describing the target. Experiments were conducted on a simulator, and the results showed that our method could accurately estimate the parameters with a minimum error of 0.0230 m in position, 0.196 % in radius, and 0.00222 degree in orientation.

Original languageEnglish
Title of host publication2018 International Conference on Digital Image Computing
Subtitle of host publicationTechniques and Applications, DICTA 2018
EditorsMark Pickering, Lihong Zheng, Shaodi You, Ashfaqur Rahman, Manzur Murshed, Md Asikuzzaman, Ambarish Natu, Antonio Robles-Kelly, Manoranjan Paul
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538666029
DOIs
Publication statusPublished - 2019 Jan 16
Event2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018 - Canberra, Australia
Duration: 2018 Dec 102018 Dec 13

Publication series

Name2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018

Conference

Conference2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018
CountryAustralia
CityCanberra
Period18/12/1018/12/13

Keywords

  • 3D point cloud data
  • disaster response robot
  • object detection

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Health Informatics
  • Radiology Nuclear Medicine and imaging

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  • Cite this

    Nishikawa, K., Ohya, J., Matsuzawa, T., Takanishi, A., Ogata, H., & Hashimoto, K. (2019). Automatic Detection of Valves with Disaster Response Robot on Basis of Depth Camera Information. In M. Pickering, L. Zheng, S. You, A. Rahman, M. Murshed, M. Asikuzzaman, A. Natu, A. Robles-Kelly, & M. Paul (Eds.), 2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018 [8615796] (2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/DICTA.2018.8615796