Simultaneous Material Type Classification And Mapping Data Acquisition Using A Laser Range Finder

Kirchner, NG; Taha, T; Liu, D; Paul, G

Simultaneous Material Type Classification And Mapping Data Acquisition Using A Laser Range Finder

Kirchner, NG

Taha, T Liu, D

Paul, G

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Publisher:: University of Technology, Sydney
Publication Type:: Conference Proceeding
Citation:: Proceedings of the 8th International Conference on Intelligent Technologies (InTech), 2007, pp. 124 - 129
Issue Date:: 2007-01

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Field	Value	Language
dc.contributor.author	Kirchner, NG https://orcid.org/0000-0002-3018-992X	en_US
dc.contributor.author	Taha, T	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020	en_US
dc.contributor.editor	Ha, QP	en_US
dc.contributor.editor	Kwok, NM	en_US
dc.date	2007-12-12	en_US
dc.date.issued	2007-01	en_US
dc.identifier.citation	Proceedings of the 8th International Conference on Intelligent Technologies (InTech), 2007, pp. 124 - 129	en_US
dc.identifier.isbn	978-1-86365-718-1	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2633
dc.description.abstract	This paper presents a method for single sensor simultaneous derivation of three-dimensional mapping data and material type data for use in an autonomous sandblasting system. A Hokuyo laser range finder s firmware has been modified so that it returns intensity data. A range error and return intensity analyzing algorithm allows the material type of the sensed object to be determined from a set of known materials. Empirical results have demonstrated the system s ability to classify material type (under alignment and orientation constraints) from a set of known materials common to sandblasting environments (wood, concrete, metals with different finishes and cloth/fabric) and to successfully classify objects both when static and when fitted to an in-motion 6-DOF anthropomorphic robotic arm.	en_US
dc.publisher	University of Technology, Sydney	en_US
dc.relation.ispartof	Proceedings of the 8th International Conference on Intelligent Technologies (InTech)	en_US
dc.relation.ispartof	International Conference on Intelligent Technologies	en_US
dc.title	Simultaneous Material Type Classification And Mapping Data Acquisition Using A Laser Range Finder	en_US
dc.type	Conference Proceeding
utslib.location	Sydney, Australia	en_US
utslib.location.activity	Sydney, Australia	en_US
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Sydney, Australia	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/DVC (Research)
pubs.organisational-group	/University of Technology Sydney/DVC (Research)/Institute For Sustainable Futures
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.consider-herdc	true	en_US
pubs.place-of-publication	Sydney, Australia	en_US
pubs.start-date	2007-12-12	en_US

Abstract:

This paper presents a method for single sensor simultaneous derivation of three-dimensional mapping data and material type data for use in an autonomous sandblasting system. A Hokuyo laser range finder s firmware has been modified so that it returns intensity data. A range error and return intensity analyzing algorithm allows the material type of the sensed object to be determined from a set of known materials. Empirical results have demonstrated the system s ability to classify material type (under alignment and orientation constraints) from a set of known materials common to sandblasting environments (wood, concrete, metals with different finishes and cloth/fabric) and to successfully classify objects both when static and when fitted to an in-motion 6-DOF anthropomorphic robotic arm.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/2633