Quantifying and Improving Laser Range Data When Scanning Industrial Materials

MacLeod, Charles N.; Summan, Rahul; Dobie, Gordon; Pierce, S. Gareth

doi:10.1109/jsen.2016.2601822

Cited by 11 publications

(14 citation statements)

References 45 publications

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“…A Leica laser measurement system [27] was used to test the accuracy of the accelerometer readings. The Leica system is a methodology based laser scanner which can measure the position of a retro reflector in free space to accuracies of ±0.2μm [28]. The accuracy of the accelerometer readings was tested by using the Leica system to determine the angle of a wedge.…”

Section: Data Collectionmentioning

confidence: 99%

Determining Position and Orientation of a 3-Wheel Robot on a Pipe Using an Accelerometer

McGregor

Dobie

Pearson³

et al. 2020

IEEE Sensors J.

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Accurate positioning of robots on pipes is a challenge in automated industrial inspection. It is typically achieved using expensive and cumbersome external measurement equipment. This paper presents an Inverse Model method for determining the orientation angle (α) and circumferential position angle (ω) of a 3 point of contact robot on a pipe where measurements are taken from a 3-axis accelerometer sensor. The advantage of this system is that it provides absolute positional measurements using only a robot mounted sensor. Two methods are presented which follow an analytical approximation to correct the estimated values. First, a correction factor found though a parametric study between the robot geometry and a given pipe radius, followed by an optimization solution which calculates the desired angles based on the system configuration, robot geometry and the output of a 3-axis accelerometer. The method is experimentally validated using photogrammetry measurements from a Vicon T160 positioning system to record the position of a three point of contact test rig in relation to a test pipe in a global reference frame. An accelerometer is attached to the 3 point of contact test rig which is placed at different orientation (α) and circumferential position (ω) angles. This work uses a new method of processing data from an accelerometer sensor to obtain the α and ω angles. The experimental results show a maximum error of 3.40° in α and 4.17° in ω, where the ω circumferential positional error corresponds to ±18mm for the test pipe radius of 253mm.

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Section: Data Collectionmentioning

confidence: 99%

Determining Position and Orientation of a 3-Wheel Robot on a Pipe Using an Accelerometer

McGregor

Dobie

Pearson³

et al. 2020

IEEE Sensors J.

Self Cite

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show abstract

“…A study on the effects of the position of the source with respect to the stop band was conducted by utilizing an industrial six Degree of Freedom (D.O.F.) robot [30]. This approach allowed for controlled and repeatable scanning not only of traditional 3 DOF (x, y, z) positions but also in roll, pitch and yaw orientations (Fig.…”

Section: Mapping the Stop Bandmentioning

confidence: 99%

Enhancing the Sound Absorption of Small-Scale 3-D Printed Acoustic Metamaterials Based on Helmholtz Resonators

et al. 2018

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Acoustic metamaterials have recently become of interest for their ability to attenuate sound by breaking the massdensity law. In this paper, acoustic metamaterials based on Helmholtz resonators and capable of attenuating sound up to 30 dB are fabricated for sound absorption applications in the smallscale. The proposed metamaterials are subwavelength at a factor of / with respect to the lateral dimension of the units. The directional response due to the position of the acoustic source on the sound attenuation provided by the metamaterial is investigated by controlling the location of a loudspeaker with a robot arm. To enhance and broaden the absorption bands, structural modifications are added such that overtones are tuned to selected frequencies, and membranes are included at the base of the resonators. This design is made possible by innovative 3D printing techniques based on stereolithography and on the use of specific UV-curable resins. These results show that these designs could be used for sound control in small-scale electroacoustic devices and sensors.

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“…Specific types of Lidars have specific statistical models, and leveraging on these differences different authors proposed different calibration algorithms. E.g., the characterization of the intrinsic parameters of Time of Flight (ToF) Lidars has been analyzed in [4], [5], [6], [7], [8], [9], [10], [11], [12]. More specifically, a characterization study of the Sick LMS200 Lidar with measurement drift over time, and targeted the influence of the surface properties as well as the incidence angle on the measurement process presented in [4], the paper also proposed a probabilistic range measurement model constructed starting from the experimental results.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Authors here concluded that the accuracy of the sensor is strongly depending on the target properties and that it is consequently difficult to establish a calibration model. However, recently a computationally inexpensive algorithm for range correction in industrial scenarios that is based on the material surface was proposed and developed in [6]. A comparison between the Sick LMS200 and the Hokuyo URG-04LX for measurement drift over time, the effect of material and color on measurement accuracy was discussed in [7].…”

Section: Literature Reviewmentioning

confidence: 99%

Calibrating Distance Sensors for Terrestrial Applications Without Groundtruth Information

2017

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Abstract-This paper describes a new calibration procedure for distance sensors that does not require independent sources of groundtruth information, i.e., that is not based on comparing the measurements from the uncalibrated sensor against measurements from a precise device assumed as the groundtruth. Alternatively, the procedure assumes that the uncalibrated distance sensor moves in space on a straight line in an environment with fixed targets, so that the intrinsic parameters of the statistical model of the sensor readings are calibrated without requiring tests in controlled environments, but rather in environments where the sensor follows linear movement and objects do not move.The proposed calibration procedure exploits an approximated EM scheme on top of two ingredients: an heteroscedastic statistical model describing the measurement process, and a simplified dynamical model describing the linear sensor movement. The procedure is designed to be capable of not just estimating the parameters of one generic distance sensor, but rather integrating the most common sensors in robotic applications, such as Lidars, odometers and sonar rangers and learn the intrinsic parameters of all these sensors simultaneously.Tests in a controlled environment led to a reduction of the MSE of the measurements returned by a commercial triangulation Lidar by a factor between 3 and 6, comparable to the efficiency of other state-of-the art groundtruth-based calibration procedures. Adding odometric and ultrasonic information further improved the performance index of the overall distance estimation strategy by a factor of up to 1.2. Tests also show high robustness against violating the linear movements assumption.

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Quantifying and Improving Laser Range Data When Scanning Industrial Materials

Cited by 11 publications

References 45 publications

Determining Position and Orientation of a 3-Wheel Robot on a Pipe Using an Accelerometer

Determining Position and Orientation of a 3-Wheel Robot on a Pipe Using an Accelerometer

Enhancing the Sound Absorption of Small-Scale 3-D Printed Acoustic Metamaterials Based on Helmholtz Resonators

Calibrating Distance Sensors for Terrestrial Applications Without Groundtruth Information

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