Prior-knowledge assisted fast 3D map building of structured environments for steel bridge maintenance

Sehestedt, S; Paul, G; Rushton-Smith, D; Liu, D

Prior-knowledge assisted fast 3D map building of structured environments for steel bridge maintenance

Sehestedt, S Paul, G

Rushton-Smith, D Liu, D

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Automation Science and Engineering, 2013, pp. 1040 - 1046
Issue Date:: 2013-12-01

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Field	Value	Language
dc.contributor.author	Sehestedt, S	en_US
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020	en_US
dc.contributor.author	Rushton-Smith, D	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2013-12-01	en_US
dc.identifier.citation	IEEE International Conference on Automation Science and Engineering, 2013, pp. 1040 - 1046	en_US
dc.identifier.isbn	9781479915156	en_US
dc.identifier.issn	2161-8070	en_US
dc.identifier.uri	http://hdl.handle.net/10453/27996
dc.description.abstract	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. © 2013 IEEE.	en_US
dc.relation.ispartof	IEEE International Conference on Automation Science and Engineering	en_US
dc.relation.isbasedon	10.1109/CoASE.2013.6653892	en_US
dc.title	Prior-knowledge assisted fast 3D map building of structured environments for steel bridge maintenance	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Madison, WI, USA	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
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.publication-status	Published	en_US

Abstract:

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. © 2013 IEEE.

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http://hdl.handle.net/10453/27996