Spatial Resolution Ensured Configuration Planning for Visual Inspection Using Pan-Tilt-Zoom Camera-Equipped Robots

IF 3.4 3区计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Access Pub Date : 2025-03-21 DOI:10.1109/ACCESS.2025.3553517

Weitong Wu;Masaya Haneda;Yuki Funabora;Shinji Doki;Kae Doki

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引用次数: 0

Abstract

We propose a novel pan-tilt-zoom (PTZ) camera configuration planning method to improve data collection for structure visual inspections. This method plans a set of configurations for PTZ camera-equipped robots to collect visual data of target surfaces at the required spatial resolution. Unlike previous methods that focus solely on optimizing camera positions to cover different areas of the target, our method fully leverages all the degrees of freedom of PTZ cameras. Our method allows the robot to completely cover targets with far less movement by adjusting the camera direction and zoom level. Experiments on bridge inspections using a PTZ ground inspection platform have validated that our method ensured both the completeness and spatial resolution of the collected data. Furthermore, drone-based inspection simulations have demonstrated that our method avoids unnecessary robot movement and reduces inspection time by up to 38% compared to the previous algorithm, significantly enhancing inspection efficiency.

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来源期刊

IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

9.80

自引率

7.70%

发文量

6673

审稿时长

6 weeks

期刊介绍： IEEE Access® is a multidisciplinary, open access (OA), applications-oriented, all-electronic archival journal that continuously presents the results of original research or development across all of IEEE''s fields of interest. IEEE Access will publish articles that are of high interest to readers, original, technically correct, and clearly presented. Supported by author publication charges (APC), its hallmarks are a rapid peer review and publication process with open access to all readers. Unlike IEEE''s traditional Transactions or Journals, reviews are "binary", in that reviewers will either Accept or Reject an article in the form it is submitted in order to achieve rapid turnaround. Especially encouraged are submissions on: Multidisciplinary topics, or applications-oriented articles and negative results that do not fit within the scope of IEEE''s traditional journals. Practical articles discussing new experiments or measurement techniques, interesting solutions to engineering. Development of new or improved fabrication or manufacturing techniques. Reviews or survey articles of new or evolving fields oriented to assist others in understanding the new area.