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International Workshop on Robot Sensing, 2004. ROSE 2004.最新文献

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Initial estimates for robotic hand-eye calibration 机器人手眼标定的初步估计
International Workshop on Robot Sensing, 2004. ROSE 2004. Pub Date : 2004-05-24 DOI: 10.1109/ROSE.2004.1317608
Hong-Jian Liu, Fanhuai Shi, Yun-cai Liu, Yi Luo
{"title":"Initial estimates for robotic hand-eye calibration","authors":"Hong-Jian Liu, Fanhuai Shi, Yun-cai Liu, Yi Luo","doi":"10.1109/ROSE.2004.1317608","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317608","url":null,"abstract":"An initial estimates method for calibration of a robotic hand-eye relationship is presented in the paper. Classical methods mainly concentrate on solving the basic equation AX=XB, where X is the unknown sensor position relative to the robot hand, A is the robot motion, B is the camera motion. In optimizing process of solving the equation, initial values are needed. Unsuitable initial values often lead to a big error. The proposed method has a large advantage on getting a fine initial value, which can avoid errors introduced by experience effective. Real experiments have been used to test the proposed method and good results have been obtained.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124195596","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Dynamic inclination estimation with liquid based sensors 基于液体传感器的动态倾角估计
International Workshop on Robot Sensing, 2004. ROSE 2004. Pub Date : 2004-05-24 DOI: 10.1109/ROSE.2004.1317615
H. Zangl, T. Bretterklieber
{"title":"Dynamic inclination estimation with liquid based sensors","authors":"H. Zangl, T. Bretterklieber","doi":"10.1109/ROSE.2004.1317615","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317615","url":null,"abstract":"In cases where mobile robots lift weights they may turn over due to overload. Such an event may be harmful to the robot or worse to people working with it. The maximum allowable load depends on the lever arm, the weight and the inclination of the arm. Knowledge of these three factors allows to prevent the robot from lifting weights beyond the limit for stability. For this purpose inclination sensors are required. Sensors based on liquid level measurement provide high accuracy which is desired for this task. However during motion the liquid lags behind the true position due to filtering of signals, friction, adhesion on the surface and the viscosity of the fluid. Furthermore shocks may lead to distortions of the liquid distribution for short periods. In this paper an adaptive approach is presented, which provides significant reduction of this undesired behavior of the sensor.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128985048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Principles and practice of real-time visual tracking for navigation and mapping 导航和制图实时视觉跟踪的原理和实践
International Workshop on Robot Sensing, 2004. ROSE 2004. Pub Date : 2004-05-24 DOI: 10.1109/ROSE.2004.1317605
Darius Burschka, Gregory Hager
{"title":"Principles and practice of real-time visual tracking for navigation and mapping","authors":"Darius Burschka, Gregory Hager","doi":"10.1109/ROSE.2004.1317605","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317605","url":null,"abstract":"We present examples of real-time mobile navigation systems and approaches to vision-based Simultaneous Localization and Mapping (SLAM) based on the second generation of our image processing library, XVision. Although the application-field of XVision is not limited to mobile navigation, the real-time requirements and limited computational resources on mobile systems provide a good testbed for it. We discuss the general architecture of the library and its modular processing pipeline, and we show how multiple tracking and low-level image processing primitives for color, texture and disparity can be combined to produce vision-guided navigation systems. The applications we discuss make use of XVision capabilities to solve the temporal correspondence problem by tracking an image feature in a given image domain.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121859441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Flexible inspection systems in the body-in-white manufacturing 白车身制造中的柔性检测系统
International Workshop on Robot Sensing, 2004. ROSE 2004. Pub Date : 2004-05-24 DOI: 10.1109/ROSE.2004.1317612
I. Kovac
{"title":"Flexible inspection systems in the body-in-white manufacturing","authors":"I. Kovac","doi":"10.1109/ROSE.2004.1317612","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317612","url":null,"abstract":"Flexible inspection has become a vital stage of the manufacturing process in the automotive industry. Therefore new procedures and new measuring devices were successfully implemented. In the paper an overview of inspection systems in the body-in-white manufacturing with a critical discussion of individual systems is presented. Special attention is given to the flexible inspection systems, which use either portable measuring arms CMAs and or measuring robots for 100% in-line inspection. The kind of tools and procedures used to prepare CMAs and measuring robots for the required accuracy, needed for the body-in-white geometrical inspection is presented in the part, where testing and calibration is discussed.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121570097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Environment mapping with laser-based and other sensors 基于激光和其他传感器的环境映射
International Workshop on Robot Sensing, 2004. ROSE 2004. Pub Date : 2004-05-24 DOI: 10.1109/ROSE.2004.1317618
Z. Vámossy, Dávid Kladek, László Fazekas
{"title":"Environment mapping with laser-based and other sensors","authors":"Z. Vámossy, Dávid Kladek, László Fazekas","doi":"10.1109/ROSE.2004.1317618","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317618","url":null,"abstract":"The purpose of the system is to create a vector map from the data given by proximity sensors. This map stores the environment data in a very compact and easily manageable form which is important for the fast navigation of a mobile robot. The multi level system supports different kinds of sensors and is able to create the map based on the data of these. The system is tested with a sonar and a laser based sensor which was planned and built by the authors (this sensor uses the principle of structured lightening).","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126479755","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Robust and fully automated robotic bore inspection for high variant parts 高变型零件的坚固和全自动机器人镗孔检查
International Workshop on Robot Sensing, 2004. ROSE 2004. Pub Date : 2004-05-24 DOI: 10.1109/ROSE.2004.1317606
G. Biegelbauer, M. Vincze
{"title":"Robust and fully automated robotic bore inspection for high variant parts","authors":"G. Biegelbauer, M. Vincze","doi":"10.1109/ROSE.2004.1317606","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317606","url":null,"abstract":"Bores and internal threads are critical parts of connections, bearings and engines, hydraulic and pneumatic systems and defective bore surfaces can cause problems. Project FibreScope sets out to introduce a system for automated bore surface inspection. Current systems miss a high flexibility or are mainly driven by human interaction and control. Therefore the main target of this work is to develop an automatic robotic system for rapid and flexible 100% surface inspection of bores with diameters from 4 to 50 mm. The main focus is to automatically detect and localize bores on arbitrary metallic objects. Using a laser scanner range images are taken, the bore is automatically located, and an automatic endoscopic inspection with a vision system is started. The main focus is on easy operating of the system achieved with rapid programming for the user. The paper describes the fully automated system and presents first results of the experiments and a public long-term demonstration (4 days) during an industrial fair.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"274 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134066017","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Painting parts automatically at lot size one 在批量尺寸为1的情况下自动喷涂部件
International Workshop on Robot Sensing, 2004. ROSE 2004. Pub Date : 2004-05-24 DOI: 10.1109/ROSE.2004.1317611
M. Vincze, G. Biegelbauer, A. Pichler
{"title":"Painting parts automatically at lot size one","authors":"M. Vincze, G. Biegelbauer, A. Pichler","doi":"10.1109/ROSE.2004.1317611","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317611","url":null,"abstract":"Today industrial automated spray painting is characterized by off-line robot programming and manual teach-in methods. This work reports an \"inverse approach\" that automatically generates the painting motion enabling part painting of lot size one. The principle of this new approach is based on formalizing the technological knowledge in a geometry library and a process library. Laser range sensors are used to obtain an accurate scan of the part. Process-relevant classes of features are detected as specified in the geometry library and linked to basic paint strategies. Painting results for car parts and different motors with gearboxes are shown.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"252 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121894001","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
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