Search results

This paper aims to propose a series of approaches to solve the problem of the mobile robot motion control and autonomous navigation in large-scale outdoor GPS-denied environments.

Based on the model of mobile robot with two driving wheels, a controller is designed and tested in obstacle-cluttered scenes in this paper. By using the priori “topology-geometry” map constructed based on the odometer data and the online matching algorithm of 3D-laser scanning points, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.

A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments, and the experimental results show the validity and effectiveness of the proposed approach.

The problem of motion control for a differential drive mobile robot is investigated in this paper first. At the same time, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.

The welding areas of the workpiece must be consistent with high precision to ensure the welding success during the welding of automobile parts. The purpose of this paper is to design an automatic high-precision locating and grasping system for robotic arm guided by 2D monocular vision to meet the requirements of automatic operation and high-precision welding.

A nonlinear multi-parallel surface calibration method based on adaptive k-segment master curve algorithm is proposed, which improves the efficiency of the traditional single camera calibration algorithm and accuracy of calibration. At the same time, the multi-dimension feature of target based on k-mean clustering constraint is proposed to improve the robustness and precision of registration.

A method of automatic locating and grasping based on 2D monocular vision is provided for robot arm, which includes camera calibration method and target locating method.

The system has been integrated into the welding robot of an automobile company in China.

A method of automatic locating and grasping based on 2D monocular vision is proposed, which makes the robot arm have automatic grasping function, and improves the efficiency and precision of automatic grasp of robot arm.

This paper aims to focus on real-world mobile systems, and thus propose relevant contribution to the special issue on “Real-world mobile robot systems”. This work on 3D laser semantic mobile mapping and particle filter localization dedicated for robot patrolling urban sites is elaborated with a focus on parallel computing application for semantic mapping and particle filter localization. The real robotic application of patrolling urban sites is the goal; thus, it has been shown that crucial robotic components have reach high Technology Readiness Level (TRL).

Three different robotic platforms equipped with different 3D laser measurement system were compared. Each system provides different data according to the measured distance, density of points and noise; thus, the influence of data into final semantic maps has been compared. The realistic problem is to use these semantic maps for robot localization; thus, the influence of different maps into particle filter localization has been elaborated. A new approach has been proposed for particle filter localization based on 3D semantic information, and thus, the behavior of particle filter in different realistic conditions has been elaborated. The process of using proposed robotic components for patrolling urban site, such as the robot checking geometrical changes of the environment, has been detailed.

The focus on real-world mobile systems requires different points of view for scientific work. This study is focused on robust and reliable solutions that could be integrated with real applications. Thus, new parallel computing approach for semantic mapping and particle filter localization has been proposed. Based on the literature, semantic 3D particle filter localization has not yet been elaborated; thus, innovative solutions for solving this issue have been proposed. Recently, a semantic mapping framework that was already published was developed. For this reason, this study claimed that the authors’ applied studies during real-world trials with such mapping system are added value relevant for this special issue.

The main problem is the compromise between computer power and energy consumed by heavy calculations, thus our main focus is to use modern GPGPU, NVIDIA PASCAL parallel processor architecture. Recent advances in GPGPUs shows great potency for mobile robotic applications, thus this study is focused on increasing mapping and localization capabilities by improving the algorithms. Current limitation is related with the number of particles processed by a single processor, and thus achieved performance of 500 particles in real-time is the current limitation. The implication is that multi-GPU architectures for increasing the number of processed particle can be used. Thus, further studies are required.

The research focus is related to real-world mobile systems; thus, practical aspects of the work are crucial. The main practical application is semantic mapping that could be used for many robotic applications. The authors claim that their particle filter localization is ready to integrate with real robotic platforms using modern 3D laser measurement system. For this reason, the authors claim that their system can improve existing autonomous robotic platforms. The proposed components can be used for detection of geometrical changes in the scene; thus, many practical functionalities can be applied such as: detection of cars, detection of opened/closed gate, etc. […] These functionalities are crucial elements of the safe and security domain.

Improvement of safe and security domain is a crucial aspect of modern society. Protecting critical infrastructure plays an important role, thus introducing autonomous mobile platforms capable of supporting human operators of safe and security systems could have a positive impact if viewed from many points of view.

This study elaborates the novel approach of particle filter localization based on 3D data and semantic mapping. This original work could have a great impact on the mobile robotics domain, and thus, this study claims that many algorithmic and implementation issues were solved assuming real-task experiments. The originality of this work is influenced by the use of modern advanced robotic systems being a relevant set of technologies for proper evaluation of the proposed approach. Such a combination of experimental hardware and original algorithms and implementation is definitely an added value.

This paper aims to examine the changing backdrop of the consumer market in relation to three-dimensional (3D) printing, especially in the context of Web infrastructure that connects consumers and producers with unprecedented diversity and scale and Web 2.0 user-created content in the material domain.

The paper presents a conceptual architecture and software platform that facilitates do-it-yourself reconfiguration of existing products incorporating 3D printing, mobile 3D sensor, augmented reality (AR) and Web technologies.

This work shows that prosumer reconfiguration of consumer products is the major paradigm in the era of democratized production. The results suggest that this approach may be used in the consumer market to meet consumer preferences for adopting innovations without redundant consumption.

Verification of the proposed conceptual approach is limited to the use of household consumer products. A critical mass of participants and product information are both necessary to achieve a sustainable ecosystem from the proposed platform. Intellectual property issues rely on the fair use of end-user production in this paper.

The proposed approach allows users to swap out consumer product parts or upgrade individual modules as innovations emerge, extending the lifecycles of consumer products and potentially reducing consumer waste.

There is a lack of work on facilitating the proliferation of practical 3D printing through prosumption in relation to existing consumer products. This paper’s scientific contribution involves how 3D printing affords social manufacturing and consumer-oriented presumption in conjunction with mobile 3D sensor, AR, and Web technologies.

This paper aims to present the spherical entropy image (SEI), a novel global descriptor for the scan registration of three-dimensional (3D) point clouds. This paper also introduces a global feature-less scan registration strategy based on SEI. It is advantageous for 3D data processing in the scenarios such as mobile robotics and reverse engineering.

The descriptor works through representing the scan by a spherical function named SEI, whose properties allow to decompose the six-dimensional transformation into 3D rotation and 3D translation. The 3D rotation is estimated by the generalized convolution theorem based on the spherical Fourier transform of SEI. Then, the translation recovery is determined by phase only matched filtering.

No explicit features and planar segments should be contained in the input data of the method. The experimental results illustrate the parameter independence, high reliability and efficiency of the novel algorithm in registration of feature-less scans.

A novel global descriptor (SEI) for the scan registration of 3D point clouds is presented. It inherits both descriptive power of signature-based methods and robustness of histogram-based methods. A high reliability and efficiency registration method of scans based on SEI is also demonstrated.

The purpose of this paper is to review the progress of machine vision as it applies to automated assembly applications.

A series of technological developments is described: 3D vision, smart cameras, near infrared (NIR) imaging and LED illumination. Associated with each are relevant assembly applications.

Advances in multi‐core processors are facilitating the development of 3D image processing algorithms for robot guidance and product inspection, which in turn enable the automation of skilful and labour‐intensive tasks. Machine vision products are becoming more capable, yet simpler to use. NIR imaging is useful for inspecting semiconductors and bottle filling. Advances in LED lighting address difficult inspection tasks at the macro and microscopic levels.

The paper recognises the emergence of 3D machine vision as a new tool in assembly automation. Updates engineers on other relevant machine vision advances.

This paper aims to propose a novel real-time three-dimensional (3D) model-based work-piece tracking method with monocular camera for high-precision assembly. Tracking of 3D work-pieces with real-time speed is becoming more and more important for some industrial tasks, such as work-pieces grasping and assembly, especially in complex environment.

A three-step process method was provided, i.e. the offline static global library generation process, the online dynamic local library updating and selection process and the 3D work-piece localization process. In the offline static global library generation process, the computer-aided design models of the work-piece are used to generate a set of discrete two-dimensional (2D) hierarchical views matching libraries. In the online dynamic library updating and selection process, the previous 3D location information of the work-piece is used to predict the following location range, and a discrete matching library with a small number of 2D hierarchical views is selected from dynamic local library for localization. Then, the work-piece is localized with high-precision and real-time speed in the 3D work-piece localization process.

The method is suitable for the texture-less work-pieces in industrial applications.

The small range of the library enables a real-time matching. Experimental results demonstrate the high accuracy and high efficiency of the proposed method.

Computer‐aided fragmented cultural relics repair is an effective method instead of manual repair. The purpose of this paper is to provide a 3D digital patching system for computer‐aided cultural relics repair through using the scanned 3D data of fragmented cultural relics. It includes processes and tools that can be effectively used for fragmented cultural relics repair.

An automatic 3D digital patching for fragmented culture relics repair is designed. The framework includes a surface segmentation based on region dilation, feature extraction based on height‐map, pair matching and multi‐block matching.

The paper finds that the proposed 3D data patching is an efficient method for fragmented cultural relics repair.

Early and effective planning and implementation of computer‐aided fragmented cultural relics repair can significantly improve the reliability and availability of fragmented cultural relics repair.

The paper presents a uniform framework of 3D digital patching for fragmented cultural relics repair.

In model‐based recognition the 3D models of objects are stored in a model library during an offline phase. During the online recognition phase, a view of the scene is matched with the model library to identify the location and pose of certain library objects in the scene. Aims to focus on the process of 3D modeling and model‐based recognition.

This paper discusses the process of 3D modeling and model‐based recognition along with their potential applications in industry with a particular emphasis on robot grasp analysis. The paper also emphasises the main challenges in these areas and give a brief literature review.

In order to develop an automatic 3D model‐based object recognition system it is necessary to automate the process of 3D modeling and recognition. The challenge in automating the 3D modeling process is to develop an automatic correspondence technique. The core of recognition is the representation scheme. Recognition is an online process. Therefore, representation and matching must be very fast in order to facilitate real time recognition.

There are numerous applications of 3D modeling in a variety of areas ranging from the entertainment industry to industrial automation. Some of its applications include computer graphics, virtual reality, medical imaging, reverse engineering, and 3D terrain construction.

Provides information on 3D modeling which constitutes an important part of computer vision or robot vision.

This study aims to compute 3D model similarity by extracting and comparing shape features from the neutral files.

In this work, the clear text encoding document STEP (Standard for The Exchange of Product model data) of 3D models was analysed, and the models were characterized by two-depth trees consisting of both surface and shell nodes. All surfaces in the STEP files can be subdivided into three kinds, namely, free, analytical and loop surfaces. Surface similarity is defined by the variation coefficients of distances between data points on two surfaces, and subsequently, the shell similarity and 3D model similarity are determined using an optimal algorithm for bipartite graph matching.

This approach is used to experimentally verify the effectiveness of the 3D model similarity algorithm.

The novelty of this study research lies in the computation of 3D model similarity by comparison of all surfaces. In addition, the study makes several key observations: surfaces reflect the most information concerning the functions and attributes of a 3D model and so the similarity between surfaces generates more comprehensive content (both external and internal); semantic-based 3D retrieval can be obtained under the premise of comparison of surface semantics; and more accurate similarity of 3D models can be obtained using the optimal algorithm of bipartite graph matching for all surfaces.