Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedDVT9 Fenix 1 Wednesday, October 10, 2012, 14:00–15:00
Range Sensing
Chair Kazunori Umeda, Chuo Univ.
Co-Chair
14:00–14:15 WedDVT9.1
Construction of a Compact Range Image Sensor
Using a Multi-slit Laser Projector
Suitable for a Robot Hand
Kazuya Iwasaki
Course of Precision Engineering, Chuo University, Japan
Kenji Terabayashi and Kazunori Umeda
Department of Precision Mechanics, Chuo University, Japan
• A compact range image sensor used for
short-range (100-300mm) measurements
is constructed
• The sensor consists of a multi-slit laser
projector and a small CMOS camera
• 1800 measurement points, 15fps,
measurement in a dynamic environment
(experiments for 300mm/s moving object)
• The sensor is compact enough (weight:
40g) to be attached to a robot's hand
A compact range image sensor
using a multi-slit laser projector
14:30–14:45 WedDVT9.3
Fast Incremental 3D Plane Extraction from a
Collection of 2D Line Segments for 3D Mapping
Su-Yong An, Lae-Kyoung Lee, and Se-Young Oh
Electrial Engineering, POSTECH, Korea
• 2D line segments
are extracted from
every scan slice
and then clustered
according to their
orientation
• A 3D plane is
modeled by a set
of these line
segments
Plane extraction results
• Reduced the number of scan points that are actually accessed
• Compared with state of the art methods
14:50–14:55 WedDVT9.5
An Autonomous 9-DOF Mobile-manipulator
System for in situ 3D Object Modeling
Liila Torabi and Kamal Gupta
Engineering Science, Simon Fraser University, Canada
• The system consists of a mobile base
with a 6-DOF arm mounted on it.
Both the arm, and the mobile base are
equipped with a line-scan range sensor.
• The task is to autonomously build
3D model of an object in situ.
• The system assumes no knowledge
of either the object or the rest of the
workspace of the robot.
• The overall planner integrates two next best view
(NBV) algorithms, one for modeling and the other
for exploration, along with sensor-based path planner.
14:15–14:30 WedDVT9.2
Fast Nearest Neighbor Search using
Approximate Cached k-d Tree
Won-Seok Choi and Se-Young Oh
Electrical Engineering, the Pohang university of Science and
TECHnology(POSTECH), KOREA
• Key idea: ‘cache’ and ‘approximate’
• The search starts from the cached leaf
node, not the root node.
• Suitable for low dimensional data
• The Indexing sequence implies a clue of
the cached node
• Property I : If the indexes of two
query points are close, these are
likely close to each other
• Property II: If the indexes of a query
point and a model point are close,
these are likely close to each other
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–160–
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(a) the standard k-d tree
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(b) the proposed algorithm
Figure. Search traversal path
14:45–14:50 WedDVT9.4
Thermal 3D Modeling of Indoor Environments
For Saving Energy
Dorit Borrmann, Hassan Afzal, Jan Elseberg,
and Andreas Nüchter
School of Engineering and Science, Jacobs University Bremen, Germany
• Heat and air conditioning
losses lead to a large amount
of wasted energy
• A complete 3D model of heat
distribution enables one to
detect sources of wasted
energy
• Architects can use this model
to modify buildings to reach
energy savings
• This video presents our approach to
automatically generate 3D models from
laser range images, thermal images, and
photos
3D model enhanced with thermal,
color, and reflectance information
14:55–15:00 WedDVT9.6
Collision Avoidance of Industrial Robot Arms
using an Invisible Sensitive Skin
Tin Lun Lam, Hoi Wut Yip, Huihuan Qian and Yangsheng Xu
Mechanical and Automation Engineering, The Chinese University of Hong
Kong, Hong Kong
• Cost-effective invisible sensitive
skin
• Cover a large area without utilizing
a large number of sensors
• Built inside the robot arm
• Collision avoidance of a 6-DOF
industrial robot arm by 5
contactless capacitive sensors and
specially designed antennas