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Automated and Frequent Calibration of a Robot Manipulator-mounted IR Range Camera for Steel Bridge Maintenance

  • Andrew Wing Keung ToEmail author
  • Gavin Paul
  • David Rushton-Smith
  • Dikai Liu
  • Gamini Dissanayake
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 92)

Abstract

This paper presents an approach to perform frequent hand-eye calibration of an Infrared (IR) range camera mounted to the end-effector of a robot manipulator in a field environment. A set of three reflector discs arranged in a structured pattern is attached to the robot platform to provide high contrast image features with corresponding range readings for accurate calculation of the camera-to-robot base transform. Using this approach the hand-eye transform between the IR range camera and robot end-effector can be determined by considering the robot manipulator model. Experimental results show that a structured lighting-based IR range camera can be reliably hand-eye calibrated to a six DOF robot manipulator using the presented automated approach. Once calibrated, the IR range camera can be positioned with the manipulator so as to generate a high resolution geometric map of the surrounding environment suitable for performing the grit-blasting task.

Keywords

Point Cloud Feature Point Robot Manipulator Calibration Plate Feature Point Extraction 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

Acknowledgments

This work is supported by the Centre of Excellence for Autonomous Systems (CAS), the Roads and Maritime Services (RMS) and the University of Technology, Sydney.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Andrew Wing Keung To
    • 1
    Email author
  • Gavin Paul
    • 1
  • David Rushton-Smith
    • 1
  • Dikai Liu
    • 1
  • Gamini Dissanayake
    • 1
  1. 1.University of TechnologySydneyAustralia

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