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

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトル2018 International Conference on Digital Image Computing
ホスト出版物のサブタイトルTechniques and Applications, DICTA 2018
編集者Mark Pickering, Lihong Zheng, Shaodi You, Ashfaqur Rahman, Manzur Murshed, Md Asikuzzaman, Ambarish Natu, Antonio Robles-Kelly, Manoranjan Paul
出版者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781538666029
DOI
出版物ステータスPublished - 2019 1 16
イベント2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018 - Canberra, Australia
継続期間: 2018 12 102018 12 13

出版物シリーズ

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

Conference

Conference2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018
Australia
Canberra
期間18/12/1018/12/13

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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  • これを引用

    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. : M. Pickering, L. Zheng, S. You, A. Rahman, M. Murshed, M. Asikuzzaman, A. Natu, A. Robles-Kelly, & M. Paul (版), 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