Automated and frequent calibration of a robot manipulator-mounted IR range camera for steel bridge maintenance

To, AWK; Paul, G; Rushton-Smith, D; Liu, D; Dissanayake, G

Automated and frequent calibration of a robot manipulator-mounted IR range camera for steel bridge maintenance

To, AWK Paul, G

Rushton-Smith, D Liu, D

Dissanayake, G

Permalink

Publication Type:: Conference Proceeding
Citation:: Springer Tracts in Advanced Robotics, 2014, 92 pp. 205 - 218
Issue Date:: 2014-03-11

Closed Access

Filename	Description	Size
FSR_Format.pdf	Accepted Manuscript version	1.28 MB	Adobe PDF	View/Open
1802_001.pdf	Accepted Manuscript version	1.37 MB	Adobe PDF	View/Open
20150429_PeerReview.pdf	Accepted Manuscript version	179.21 kB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	To, AWK	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.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2014-03-11	en_US
dc.identifier.citation	Springer Tracts in Advanced Robotics, 2014, 92 pp. 205 - 218	en_US
dc.identifier.isbn	9783642406850	en_US
dc.identifier.issn	1610-7438	en_US
dc.identifier.uri	http://hdl.handle.net/10453/33672
dc.identifier.uri	http://hdl.handle.net/10453/35424
dc.identifier.uri	http://hdl.handle.net/10453/35423
dc.description.abstract	This paper presents an approach to perform frequent hand-eye calibration of an Infrared (IR) range camera mounted to the end-effector of a robot manipulator in a field environment. A set of three reflector discs arranged in a structured pattern is attached to the robot platform to provide high contrast image features with corresponding range readings for accurate calculation of the camera-to-robot base transform. Using this approach the hand-eye transform between the IR range camera and robot end-effector can be determined by considering the robot manipulator model. Experimental results show that a structured lighting-based IR range camera can be reliably hand-eye calibrated to a six DOF robot manipulator using the presented automated approach. Once calibrated, the IR range camera can be positioned with the manipulator so as to generate a high resolution geometric map of the surrounding environment suitable for performing the grit-blasting task. © Springer-Verlag Berlin Heidelberg 2014.	en_US
dc.relation.ispartof	Springer Tracts in Advanced Robotics	en_US
dc.relation.isbasedon	10.1007/978-3-642-40686-7_14	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Automated and frequent calibration of a robot manipulator-mounted IR range camera for steel bridge maintenance	en_US
dc.type	Conference Proceeding
utslib.citation.volume	92	en_US
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Matsushima, Miyagi, Japan
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	closed_access
pubs.publication-status	Published	en_US
pubs.volume	92	en_US

Abstract:

This paper presents an approach to perform frequent hand-eye calibration of an Infrared (IR) range camera mounted to the end-effector of a robot manipulator in a field environment. A set of three reflector discs arranged in a structured pattern is attached to the robot platform to provide high contrast image features with corresponding range readings for accurate calculation of the camera-to-robot base transform. Using this approach the hand-eye transform between the IR range camera and robot end-effector can be determined by considering the robot manipulator model. Experimental results show that a structured lighting-based IR range camera can be reliably hand-eye calibrated to a six DOF robot manipulator using the presented automated approach. Once calibrated, the IR range camera can be positioned with the manipulator so as to generate a high resolution geometric map of the surrounding environment suitable for performing the grit-blasting task. © Springer-Verlag Berlin Heidelberg 2014.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/33672