Prior-knowledge Assisted Fast 3D Map Building of Structured Environments for Steel Bridge Maintenance

Publisher:
IEEE
Publication Type:
Conference Proceeding
Citation:
IEEE International Conference on Automation Science and Engineering, 2013, pp. 1040 - 1046
Issue Date:
2013-01
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Practical application of a robot in a structured, yet unknown environment, such as in bridge maintenance, requires the robot to quickly generate an accurate map of the surfaces in the environment. A consistent and complete map is fundamental to achieving reliable and robust operation. In a real-world and field application, sensor noise and insufficient exploration oftentimes result in an incomplete map. This paper presents a robust environment mapping approach using prior knowledge in combination with a single depth camera mounted on the end-effector of a robotic manipulator. The approach has been successfully implemented in an industrial setting for the purpose of steel bridge maintenance. A prototype robot, which includes the presented map building approach in its software package, has recently been delivered to industry.
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