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Robotic three-dimensional imaging system for under-vehicle inspection

Sreenivas R. Sukumar
2006 Journal of Electronic Imaging (JEI)  
We present our research efforts toward the deployment of 3-D sensing technology to an under-vehicle inspection robot.  ...  We leverage laser-based range-imaging techniques to reconstruct the scene of interest and address various design challenges in the scene modeling pipeline.  ...  Acknowledgments We would like to thank Umayal Chidambaram and Santosh Katwal for their time and effort in helping us with the data acquisition.  ... 
doi:10.1117/1.2238565 fatcat:tuwgyvyntbgzhg75rxj6oudcqy


2018 Zenodo  
The system was programmed to capture an image for each meter of the robot's advance. In addition, a 2D LiDAR scanner was used to obtain three-dimensional (3D) structural characteristics of the trees.  ...  The robot is operated remotely. Two batteries allow continuous use for six hours, which allows the inspection of a field of approximately 4 ha.  ...  The system was programmed to capture an image for each meter of the robot's advance. In addition, a 2D LiDAR scanner was used to obtain three-dimensional (3D) structural characteristics of the trees.  ... 
doi:10.5281/zenodo.2533152 fatcat:2hxylwgmmje5hbozj5r3i5ecxm

Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

Nicholas Hansen, Mikkel C. Nielsen, David Johan Christensen, Mogens Blanke
2015 IFAC-PapersOnLine  
Using both lasers for distance estimation, the sensor offers three dimensional interpretation of the environment.  ...  Using both lasers for distance estimation, the sensor offers three dimensional interpretation of the environment.  ...  Ideally a complete robotic system for inspection would consist of a fault-tolerant multi-robot system, capable of handling longterm offshore inspection tasks, of man-made confined structures, autonomously  ... 
doi:10.1016/j.ifacol.2015.10.267 fatcat:els7s4jrdfdj7gy2hs6lf3rwva

Two-Dimensional Obstacle Avoidance Behavior Based on Three-Dimensional Environment Map for a Ground Vehicle

Hiroki Bingo, Hiroshi Ohtake
2018 Innovative Computing Information and Control Express Letters, Part B: Applications  
In this paper, as the basic research for realizing our goal, we propose the obstacle avoidance method for a ground vehicle using three-dimensional Laplacian potential method based on the information of  ...  In order to drive robots automatically under various environments, the robots themselves have to recognize the surrounding environment, determine appropriate motions, and perform the determined motions  ...  Robot and System. In this research, we develop a ground vehicle, which is shown in Figure 1 .  ... 
doi:10.24507/icicelb.09.06.485 fatcat:nycybhxr7zethfplwbe4acoxn4

Cooperative Path-following Control of Remotely Operated Underwater Robots for Human Visual Inspection Task [article]

Eito Sato, Hailong Liu, Norimitsu Sakagami, Takahiro Wada
2022 arXiv   pre-print
Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure.  ...  This study focuses on a task in which a human operator controls an underwater robot to follow a certain path while visually inspecting objects in the vicinity of the path.  ...  Expansion of the proposed method for six-DoF motions in a three-dimensional space is an important future study.  ... 
arXiv:2203.13501v1 fatcat:nhicbf5bqfbydltpfpdhzbk4iy

A visually guided swimming robot

G. Dudek, M. Jenkin, C. Prahacs, A. Hogue, J. Sattar, P. Giguere, A. German, Hui Liu, S. Saunderson, A. Ripsman, S. Simhon, L.-A. Torres (+3 others)
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We describe recent results obtained with AQUA, a mobile robot capable of swimming, walking and amphibious operation.  ...  This paper describes some of the pragmatic and logistic obstacles encountered, and provides an overview of some of the basic capabilities of the vehicle and its associated sensors.  ...  INTRODUCTION The aquatic environment presents an almost ideal test-bed for the evaluation and development of robotic technologies. The environment is highly dynamic and three dimensional.  ... 
doi:10.1109/iros.2005.1545231 dblp:conf/iros/DudekJPHSGGLSRSTMZR05 fatcat:fy4rifsdlvgtrp5omc3igqz4ia

Two-dimensional laser servoing for precision motion control of an ODV robotic license plate recognition system

Zhen Song, Kevin L. Moore, YangQuan Chen, Vikas Bahl, Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage
2003 Unmanned Ground Vehicle Technology V  
The system has two types of robots: the low-profile Omni-Directional Inspection System (ODIS), which can be used for under-vehicle inspections, and the mid-sized T4 robot, which serves as a "marsupial  ...  mothership" for the ODIS vehicles and performs coarse resolution inspection.  ...  Both T4 and ODIS robots are ODVs and UGVs. ODIS is a low-profile robot whose small size makes it easy to go under the chassis of other vehicles for inspection.  ... 
doi:10.1117/12.485692 fatcat:52mfl5chpjcyzmi6maxpvu7ulq

Autonomous hazardous waste drum inspection vehicle

E. Byler, W. Chun, W. Hoff, D. Layne
1995 IEEE robotics & automation magazine  
An Intelligent Mobile Sensing System (IMSS) has been developed for the automated inspection of radioactive and hazardous waste storage containers in warehouse facilities at Department of Energy (DOE) sites  ...  An autonomous robotic device with enhanced intelligence and maneuverability, capable of conducting routine multi-sensor inspection of stored waste drums has been developed.  ...  Closeup of the IMSS Mission Sensor Suite Geometric Inspection System The laser ranging sensing subsystem was used to perform inspection of the three-dimensional characteristics of the drums.  ... 
doi:10.1109/100.388296 fatcat:3o5lyenxhfcaddchcbj6zdaxxy

Power Grid Geographic Information System Construction of 2D and 3D Integration

Peng CUI, Ming-ming ZHANG, Hao-xiang DOU, Hui-yu WANG, Gao-pan HUANG
2018 DEStech Transactions on Engineering and Technology Research  
In the 2D and 3D integration scene, the application of real scene simulation grid, device management, substation robot inspection, city model rendering, meteorological information display and so on is  ...  The Power Grid Geographic Information System based on the functions of spatial query, analysis and display of traditional 2D and 3D Geographic Information System (GIS), which realizes the construction  ...  Application of Main Functions of the System Unmanned Aerial Vehicle Patrol Line The system provides the simulation function of aircraft patrol line, which provides support for the real UAV inspection  ... 
doi:10.12783/dtetr/icmeit2018/23396 fatcat:mpfhrgziw5circujej7mcpi3xa

SAFER under vehicle inspection through video mosaic building

Andreas Koschan, David Page, Jin‐Choon Ng, Mongi Abidi, David Gorsich, Grant Gerhart
2004 Industrial robot  
In this paper, we describe efforts made to build multi-perspective mosaics of infrared and color video data for the purpose of under vehicle inspection.  ...  robotics (SAFER), to develop, test, and deploy sensing and imaging systems.  ...  Targeted mission To center research efforts, SAFER firstly targets a specific mission for the inspection of vehicle undercarriages The key design of this system is for the robot and sensors to have a low  ... 
doi:10.1108/01439910410551854 fatcat:dl7omckoy5c4znc2c2bhrpcjdy

Fiber optic coherent laser radar 3D vision system

Richard L. Sebastian, Robert B. Clark, Dana L. Simonson, Anthony R. Slotwinski, Donald J. Svetkoff
1994 Imaging and Illumination for Metrology and Inspection  
For high speed inspection operations the CLVS range map information may be overlaid on color video images for greatly enhanced feature detection, either by machine pattern recognition or enhanced image  ...  Unmanned Vehicle Navigation: the three-dimensional world view to be used in navigating an autonomous or semiautonomous vehicle may be acquired by a CLVS, avoiding the inaccuracy and susceptibility to lighting  ... 
doi:10.1117/12.198849 fatcat:qkbeeaha6vf5hnaehl3hdgv3ui

Preliminary approach for the detection of olive trees infected by Xylella fastidiosa using a field robot and proximal sensing

Santiago Lopez, Sergio Cubero, Nuria Aleixos, Vicente Alegre, Beatriz Rey, Enrique Aguilar, Jose Blasco
2019 Zenodo  
During the first tests, the robot inspected each row in both directions with the cameras pointing to one side, so as to inspect all sides of the trees.  ...  Synchronised and geolocated images of the whole crop were also captured with the cameras in different climatic conditions, as well as with the laser scanner for later comparison to the in-situ observations  ...  Acknowledgements This work was partially supported by funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 727987 Xylella Fastidiosa Active Containment  ... 
doi:10.5281/zenodo.3559670 fatcat:2tjamibznvcl5dmdkd6zhz4lem

UNION: underwater intelligent operation and navigation

V. Rigaud, E. Coste-Maniere, M.J. Aldon, P. Probert, M. Perrier, P. Rives, D. Simon, D. Lang, J. Kiener, A. Casal, J. Amar, P. Dauchez (+1 others)
1998 IEEE robotics & automation magazine  
The project focuses mainly on the development of coordinated control and sensing strategies for combined manipulator and vehicle systems.  ...  The Union project brings together seven European research groups working on underwater vehicles, robotics and intelligent sensing systems: (R sum : Le projet Union nanc par le programme de recherche europ  ...  Triangulation is used to obtain three dimensional data from the two dimensional sensing element data.  ... 
doi:10.1109/100.667323 fatcat:yz5x365exvemrcnfoesh6stdve

Trajectory planning for surface following with a manipulator under RGB-D visual guidance

Danial Nakhaeinia, Raouf Fareh, Pierre Payeur, Robert Laganiere
2013 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)  
The work is motivated by applications in automated vehicles inspection and screening in security applications.  ...  Keywords-vehicle security screening, path planning, RGB-D sensors, surface following, robot visual guidance. I.  ...  A stereo vision system is presented in [7] for the extraction of the three-dimensional structure of a scene using depth and image information, providing good results but at the price of a significant  ... 
doi:10.1109/ssrr.2013.6719365 dblp:conf/ssrr/NakhaeiniaFPL13 fatcat:k6kqo7ile5dh3jt4qaijk5krny

Machine-vision-based alignment: space to factory to garage

Donald J. Christian, Hoshang Shroff, Susan S. Solomon, Bruce G. Batchelor, John W. V. Miller
1997 Machine Vision Applications, Architectures, and Systems Integration VI  
This paper describes a new automotive service application for vehicle wheel alignment.  ...  Six axes of rotation are used to define locations and orientations of the axles in three dimensional space. Their values are visibly inferred and measured, and their geometric relationships computed.  ...  For example, the Paveway guided bomb aligns itself towards a bright spot illuminated by a laser designator whose image is processed by on-board electronic system.  ... 
doi:10.1117/12.285581 fatcat:qu5ceknzdvho7llgrkz7tpcnym
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