Peel, H, Morgan, G, Peel, C et al. (2 more authors) (2016) Inspection Robot with Low Cost Perception Sensing. In: 2016 Proceedings of the 33rd ISARC. 33rd International Symposium on Automation and Robotics in Construction (ISARC 2016), 18-21 Jul 2016, Auburn, Alabama, USA. IAARC
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 +/- 154 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.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is a conference paper published in the 2016 Proceedings of the 33rd ISARC, Auburn, AL, USA. |
Keywords: | structure-from-motion; robot; inspection; point cloud |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Civil Engineering (Leeds) The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Funding Information: | Funder Grant number EPSRC EP/N010523/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 28 Jul 2016 13:48 |
Last Modified: | 27 Mar 2019 12:07 |
Published Version: | http://www.iaarc.org/publications/search.php?query... |
Status: | Published |
Publisher: | IAARC |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:103042 |