An effective exploration approach to simultaneous mapping and surface material–type identification of complex three‐dimensional environments

Paul, Gavin; Liu, Dikai; Kirchner, Nathan; Dissanayake, Gamini

doi:10.1002/rob.20317

Cited by 24 publications

(31 citation statements)

References 33 publications

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“…In order to verify the presented approach, the approach is integrated into an autonomous 3D map building system [2]. Three experiments are conducted in a real-world environment.…”

Section: Methodsmentioning

confidence: 99%

“…This robotic system should have the capacity of building environmental awareness, including the geometry of the environment, the surface types and conditions of steel structural members, through exploration and mapping, surfaces identification and material-type classification. Camera images and laser range sensor data describing the environment can be gathered during robot manipulator-based exploration [1] [2]. In exploration sensors mounted to the end-effector of the robot arm are manoeuvred within the complex environment to gather data from multiple view-points.…”

Section: Introductionmentioning

confidence: 99%

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Image segmentation for surface material-type classification using 3D geometry information

Paul

Liu

2010

The 2010 IEEE International Conference on Information and Automation

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Abstract-This paper describes a novel approach for the segmentation of complex images to determine candidates for accurate material-type classification. The proposed approach identifies classification candidates based on image quality calculated from viewing distance and angle information. The required viewing distance and angle information is extracted from 3D fused images constructed from laser range data and image data. This approach sees application in material-type classification of images captured with varying degrees of image quality attributed to geometric uncertainty of the environment typical for autonomous robotic exploration. The proposed segmentation approach is demonstrated on an autonomous bridge maintenance system and validated using gray level cooccurrence matrix (GLCM) features combined with a naive Bayes classifier. Experimental results demonstrate the effects of viewing distance and angle on classification accuracy and the benefits of segmenting images using 3D geometry information to identify candidates for accurate material-type classification.

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“…In order to verify the presented approach, the approach is integrated into an autonomous 3D map building system [2]. Three experiments are conducted in a real-world environment.…”

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Image segmentation for surface material-type classification using 3D geometry information

Paul

Liu

2010

The 2010 IEEE International Conference on Information and Automation

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“…The first component shown in the flowchart is exploration for mapping [3], [4] and localization [13], which are autonomously conducted by each AIR prior to the BPO. As a result, each AIR is able to obtain partial information about the environment based on its capabilities and location.…”

Section: Problem Statementmentioning

confidence: 99%

“…For example, an autonomous grit-blasting robot [2] that is used to remove rust and other debris from steel surfaces, performs tasks such as exploration and mapping [3], surface-type identification [4], surface segmentation [5], and collision-free motion planning [6] without any involvements of a human operator.…”

Section: Introductionmentioning

confidence: 99%

An approach to base placement for effective collaboration of multiple autonomous industrial robots

Hassan

Liu

Paul

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-There are many benefits for the deployment of multiple autonomous industrial robots to carry out a task, particularly if the robots act in a highly collaborative manner. Collaboration can be possible when each robot is able to autonomously explore the environment, localize itself, create a map of the environment and communicate with other robots. This paper presents an approach to the modeling of the collaboration problem of multiple robots determining optimal base positions and orientations in an environment by considering the team objectives and the information shared amongst the robots. It is assumed that the robots can communicate so as to share information on the environment, their operation status and their capabilities. The approach has been applied to a team of robots that are required to perform complete surface coverage tasks such as grit-blasting and spray painting in unstructured environments. Case studies of such applications are presented to demonstrate the effectiveness of the approach.

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“…The model is studied for increasing the speed of the robot manipulator while maintaining the control accuracy. This model is then applied into a steel bridge maintenance robotic system [1] [21]. Virtual Display Terminals (VDTs) -requirements of nonkeyboard input device [9].…”

Section:  Introductionmentioning

confidence: 99%

An Extended Hand Movement Model for Haptic-Based Remote Operation of Infrastructure Maintenance Robots

Chotiprayanaku¹,

Liu²,

Dissanayake

2011

28th International Symposium on Automation and Robotics in Construction (ISARC 2011)

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When human operator is in the control loop of a robotic system, which operates in unstructured, complex and dynamic environments such as those in construction and steel bridge maintenance, human factors will have significant effect on the operational performance and control of the robot. This paper aims to investigate this effect and develop efficient methods for operational performance improvement. An eXtended Hand Movement (XHM) model for eye-guided hand movement is developed with the aim of providing natural and comfortable interaction between a human operator and a robot. A haptic force-speed-accuracy control method is then designed based on the XHM model and implemented in a steel bridge maintenance robotic system. An experiment is conducted to verify the model and control method. Experimental results demonstrated significant improvement in control accuracy and operational performance in a steel bridge maintenance robotic system.

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An effective exploration approach to simultaneous mapping and surface material–type identification of complex three‐dimensional environments

Cited by 24 publications

References 33 publications

Image segmentation for surface material-type classification using 3D geometry information

Image segmentation for surface material-type classification using 3D geometry information

An approach to base placement for effective collaboration of multiple autonomous industrial robots

An Extended Hand Movement Model for Haptic-Based Remote Operation of Infrastructure Maintenance Robots

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