Construction of a compact range image sensor using multi-slit laser projector and obstacle detection of a humanoid with the sensor

Kuroki, Takahiro; Terabayashi, Kenji; Umeda, Kazunori

doi:10.1109/iros.2010.5652710

Cited by 10 publications

(5 citation statements)

References 10 publications

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“…The height information can be obtained using a multi-slit laser (c) damages are detected, whose boundaries are extracted and shown in red. The red points are the guarding points range scanner [22], which has the size of about 110m x 90mm and includes a laser projector and a CCD camera (the laser projector in [22] is StockerYale Mini-715L, which projects 15 slits, with an adjacent slit angle 2.30; the CCD camera is Point Grey Research Flea2, which measures 330 points). The height information can also be obtained by laser scanners in [10], [14] or other range cameras (e.g.…”

Section: Results Of Simulated Experimentsmentioning

confidence: 99%

Optimizing pyramid visibiliy coverage for autonomous robots in 3D environment

2013

2013 8th International Conference on Computer Science &Amp; Education

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This paper studies the optimal visibility coverage for autonomous robots in complex 3D environments. The perception sensor equipped on an inspection robot usually has a pyramid shaped visible range with limited distance and angle. Finding the optimal pyramid visibility coverage for a given 3D region is NP hard; this paper presents an effective progressive integer linear programming algorithm to compute an approximate solution.Our framework allows the user to specify a coverage rate parameter to balance the percentage of visibility and the required guarding points for the given region. The algorithm is assessed in a simulated 3D pipeline environment and demonstrated promis ing for detecting leaks, clogs, and deformation of the pipes.

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Section: Results Of Simulated Experimentsmentioning

confidence: 99%

Optimizing pyramid visibiliy coverage for autonomous robots in 3D environment

2013

2013 8th International Conference on Computer Science &Amp; Education

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“…The robot is also equipped with a powerful computing system that makes it extendable to various sensing and actuating devices, such as in our experimental system, for localization and laser scanning. The height information can be obtained using a multislit laser range scanner [47], which has the size of about 110 m × 90 mm and includes a laser projector and a charge-coupled device (CCD) camera (the laser projector in [47] is StockerYale Mini-715L, which projects 15 slits, with an adjacent slit angle 2.3…”

Section: Results Of Simulated Experimentsmentioning

confidence: 99%

On Optimizing Autonomous Pipeline Inspection

Lin

et al. 2012

IEEE Trans. Robot.

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Abstract-This paper studies the optimal inspection of autonomous robots in a complex pipeline system. We solve a 3-D region-guarding problem to suggest the necessary inspection spots. The proposed hierarchical integer linear programming optimization algorithm seeks the fewest spots necessary to cover the entire given 3-D region. Unlike most existing pipeline inspection systems that focus on designing mobility and control of the explore robots, this paper focuses on global planning of the thorough and automatic inspection of a complex environment. We demonstrate the efficacy of the computation framework using a simulated environment, where scanned pipelines and existing leaks, clogs, and deformation can be thoroughly detected by an autonomous prototype robot.

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“…Step) [4,5] O (M) X (M) X (M) X (U) [6] O (M) O (M) X (U) X (U) [7][8][9][10] O (M) O (M) O (M) X (U) [11,12] O…”

Section: Flatmentioning

confidence: 99%

“…A compact range image sensor is proposed in [3], and a biped robot can move autonomously while avoiding obstacles by detecting flat floor and obstacles using this small sensor [4,5]. Obstacle avoidance and path planning method for biped robots using stereo vision is proposed in [6].…”

Section: Introductionmentioning

confidence: 99%

Motion Planning of Biped Robot Equipped with Stereo Camera Using Grid Map

Yamashita¹,

Kitaoka²,

Kaneko³

2011

Int. J. Automation Technol.

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Recognizing its surroundings is important for biped robots seeking a destination. In this paper, we propose a motion planning method of a biped robot including path planning and obstacle avoidance. The robot obtains distance information on its surrounding environment from images captured by a stereo camera system, and generates a 3D map, then, builds a 2D grid map that locates flat floor regions, obstacle regions, bump regions, gate regions, and un-measured regions to decide its path by using the 2D grid map. Experimental results confirm the effectiveness of the proposed method.

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Construction of a compact range image sensor using multi-slit laser projector and obstacle detection of a humanoid with the sensor

Cited by 10 publications

References 10 publications

Optimizing pyramid visibiliy coverage for autonomous robots in 3D environment

Optimizing pyramid visibiliy coverage for autonomous robots in 3D environment

On Optimizing Autonomous Pipeline Inspection

Motion Planning of Biped Robot Equipped with Stereo Camera Using Grid Map

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