Disaster Response Robot's Autonomous Manipulation of Valves in Disaster Sites Based on Visual Analyses of RGBD Images

Keishi Nishikawa, Asaki Imai, Kazuya Miyakawa, Takuya Kanda, Takashi Matsuzawa, Kenji Hashimoto, Atsuo Takanishi, Hiroyuki Ogata, Jun Ohya

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

Abstract

For building a disaster response robot, WAREC-l's fully-automated system for manipulating a valve, this paper proposes a method for (1) detecting a valve which is far away from the robot, (2) estimating the position and orientation for grasping the valve by the robot at a closer position. Our methods do not need any prior information about a valve for the above-mentioned detection and estimation for grasping. In addition, our estimation for grasping provides useful information, by which WAREC-I can rotate a valve autonomously. The method (1) uses the RGB image and the point cloud data captured by Multisense SL as the input, and estimate the position and orientation of a valve far away from the robot. The method (2) uses both the RGB and depth images captured by KinectV2 as input and estimate information for grasping the valve. Our experiments are conducted using a real disaster response robot. Our experimental results show the error of the estimation by the (a) two methods are small enough to achieve a fully-automated system for detecting and rotating the valve by WAREC-I.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4790-4797
Number of pages8
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - 2019 Nov
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: 2019 Nov 32019 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period19/11/319/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Nishikawa, K., Imai, A., Miyakawa, K., Kanda, T., Matsuzawa, T., Hashimoto, K., Takanishi, A., Ogata, H., & Ohya, J. (2019). Disaster Response Robot's Autonomous Manipulation of Valves in Disaster Sites Based on Visual Analyses of RGBD Images. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 4790-4797). [8967586] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8967586