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

*この研究の対応する著者

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語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
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781538666029
DOI
出版ステータスPublished - 2019 1月 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月 102018 12月 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
国/地域Australia
CityCanberra
Period18/12/1018/12/13

ASJC Scopus subject areas

  • コンピュータ ネットワークおよび通信
  • コンピュータ サイエンスの応用
  • コンピュータ ビジョンおよびパターン認識
  • 信号処理
  • 健康情報学
  • 放射線学、核医学およびイメージング

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