TY - GEN
T1 - Derivation of an Optimum and Allowable Range of Pan and Tilt Angles in External Sideway Views for Grasping and Placing Tasks in Unmanned Construction Based on Human Object Recognition
AU - Sato, Ryuya
AU - Kamezaki, Mitsuhiro
AU - Niuchi, Satoshi
AU - Sugano, Shigeki
AU - Iwata, Hiroyasu
N1 - Funding Information:
ACKNOWLEDGMENT This research was supported in parts by the JSPS KAKENHI Grant Number 16K06196, the Tateisi Science and Technology Foundation, and the Research Institute for
Publisher Copyright:
© 2019 IEEE.
PY - 2019/4/25
Y1 - 2019/4/25
N2 - Herein, unmanned construction technology that allows remote control of construction machinery has been introduced for post-disaster recovery efforts. One of the most significant problems in unmanned construction is that work efficiency is less than half of that in manned operations owing to the lack of visual information. Thus, deriving optimum and allowable external sideway views can lead to higher efficiencies. In this study, we investigate optimum and allowable pan and tilt angles of external views for grasping and placing tasks as these tasks are required in disaster sites. Humans primarily recognize objects from canonical views with the least amount of occlusions, and with an allowable rotation of 30°. Thus, we hypothesize that external views with pan and tilt angles of 90° could be canonical views for grasping and placing; the allowable range of both pan and tilt angles was ± 30°. We conducted experiments using a 1/20 scale model to derive an optimum and allowable range of pan and tilt angles. The experimental results suggest that the optimum pan angle is 90°, and the allowable range for grasping is ± 30°; the range for placing was from 30° to 135°. In addition, the results indicate that the optimum tilt angle is 60°, and the allowable range is (± 30°).
AB - Herein, unmanned construction technology that allows remote control of construction machinery has been introduced for post-disaster recovery efforts. One of the most significant problems in unmanned construction is that work efficiency is less than half of that in manned operations owing to the lack of visual information. Thus, deriving optimum and allowable external sideway views can lead to higher efficiencies. In this study, we investigate optimum and allowable pan and tilt angles of external views for grasping and placing tasks as these tasks are required in disaster sites. Humans primarily recognize objects from canonical views with the least amount of occlusions, and with an allowable rotation of 30°. Thus, we hypothesize that external views with pan and tilt angles of 90° could be canonical views for grasping and placing; the allowable range of both pan and tilt angles was ± 30°. We conducted experiments using a 1/20 scale model to derive an optimum and allowable range of pan and tilt angles. The experimental results suggest that the optimum pan angle is 90°, and the allowable range for grasping is ± 30°; the range for placing was from 30° to 135°. In addition, the results indicate that the optimum tilt angle is 60°, and the allowable range is (± 30°).
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U2 - 10.1109/SII.2019.8700335
DO - 10.1109/SII.2019.8700335
M3 - Conference contribution
AN - SCOPUS:85065670471
T3 - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
SP - 776
EP - 781
BT - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Y2 - 14 January 2019 through 16 January 2019
ER -