Inspection Robot with Low Cost Perception Sensing
2016; Linguagem: Inglês
10.22260/isarc2016/0008
ISSN2413-5844
AutoresHarriet Peel, George Morgan, Colin Peel, Anthony G. Cohn, Raúl Fuentes,
Tópico(s)3D Surveying and Cultural Heritage
ResumoInspection Robot with Low Cost Perception Sensing Harriet Peel, George Morgan, Colin Peel, Anthony Cohn and Raul Fuentes Pages 59-66 (2016 Proceedings of the 33rd ISARC, Auburn, USA, ISBN 978-1-5108-2992-3, ISSN 2413-5844) Abstract: This paper presents the use of off-the-shelf products as a low cost solution to bridge bearing inspection. A commercial product, known as a DiddyBorg, is a robot designed for use with a Raspberry Pi as the on-board computer. The DiddyBorg is used as a robotic platform to make a photogrammetric survey of the bearing area of a bridge. The images collected from this survey are then used to make a 3D reconstruction using Structure-from-Motion (SfM) and software 3DFlow Zephyr Aerial (Zephyr). The quality of the 3D reconstruction had an accuracy of +/- 30 mm when compared to the known dimensions of the area. The resulting point cloud was then used as a map that the robot can use for navigation purposes. In particular we present a simple localization algorithm based on distance three readings measured from the robot. Keywords: Structure-from-Motion, robot, inspection, point cloud DOI: https://doi.org/10.22260/ISARC2016/0008 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley
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