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

Paul, G; Liu, D; Kirchner, N; Dissanayake, G

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

Paul, G

Liu, D

Kirchner, N

Dissanayake, G

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Publication Type:: Journal Article
Citation:: Journal of Field Robotics, 2009, 26 (11-12), pp. 915 - 933
Issue Date:: 2009-11-01

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Field	Value	Language
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Kirchner, N https://orcid.org/0000-0002-3018-992X	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2009-11-01	en_US
dc.identifier.citation	Journal of Field Robotics, 2009, 26 (11-12), pp. 915 - 933	en_US
dc.identifier.issn	1556-4959	en_US
dc.identifier.uri	http://hdl.handle.net/10453/9194
dc.description.abstract	This paper presents an integrated exploration approach for geometric mapping and surface material-type identification of complex three-dimensional (3D) environments using a six-degree-of-freedom industrial robot manipulator. Maps of the surface geometry with the surface material type identified are required for an autonomous robotic system to perform operations in steel bridge maintenance. The proposed approach utilizes information theory to enable multiobjective exploration while new 3D geometric and surface-type data are fused via probabilistic updates. It is verified that the integrated approach enables the robotic system to perform exploration and surface inspection in real-world environments. © 2009 Wiley Periodicals, Inc.	en_US
dc.relation.ispartof	Journal of Field Robotics	en_US
dc.relation.isbasedon	10.1002/rob.20317	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	An effective exploration approach to simultaneous mapping and surface material-type identification of complex three-dimensional environments	en_US
dc.type	Journal Article
utslib.citation.volume	11-12	en_US
utslib.citation.volume	26	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
dc.location.activity	ISI:000270869800004	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/DVC (Research)
pubs.organisational-group	/University of Technology Sydney/DVC (Research)/Institute For Sustainable Futures
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.issue	11-12	en_US
pubs.publication-status	Published	en_US
pubs.volume	26	en_US

Abstract:

This paper presents an integrated exploration approach for geometric mapping and surface material-type identification of complex three-dimensional (3D) environments using a six-degree-of-freedom industrial robot manipulator. Maps of the surface geometry with the surface material type identified are required for an autonomous robotic system to perform operations in steel bridge maintenance. The proposed approach utilizes information theory to enable multiobjective exploration while new 3D geometric and surface-type data are fused via probabilistic updates. It is verified that the integrated approach enables the robotic system to perform exploration and surface inspection in real-world environments. © 2009 Wiley Periodicals, Inc.

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

http://hdl.handle.net/10453/9194