Robot perception planning for industrial inspection

S. Y. Chen; W. L. Wang; G. Xiao; C. Y. Yao; Y. F. Li

doi:10.1109/TENCON.2004.1415007

Robot perception planning for industrial inspection

S. Y. Chen^*, W. L. Wang, G. Xiao, C. Y. Yao, Y. F. Li^*

^*Corresponding author for this work

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

3 Citations (Scopus)

Abstract

A perception planning method is proposed in this paper to automatically determine sensor positions for a robot in industrial inspection tasks. We consider that there exists a target model in the robot system and the vision sensor needs to move from one pose to another around the target to observe many geometrical features. Multiple 3D images are then taken from different vantage viewpoints and integrated together to analyze the manufacturing quality of the industrial part. Such a perception-planning problem involves determination of the least sensing operations, the optimal spatial distribution sensor placements, and a shortest path through these viewpoints. During the planning, object features are sampled as individual points to reduce the computational complexity. The optimal sensor distribution and robot execution path are determined by objective functions. Experiments are also carried out to demonstrate the proposed method. © 2004 IEEE.

Original language	English
Title of host publication	TENCON 2004 - 2004 IEEE Region 10 Conference
Subtitle of host publication	Proceedings
Publisher	IEEE
Pages	613-616
Volume	D
ISBN (Print)	0-7803-8560-8
DOIs	https://doi.org/10.1109/TENCON.2004.1415007
Publication status	Published - Nov 2004
Event	2004 IEEE Region 10 Conference: Analog and Digital Techniques in Electrical Engineering (IEEE TENCON 2004) - Chiang Mai, Thailand Duration: 21 Nov 2004 → 24 Nov 2004

Conference

Conference	2004 IEEE Region 10 Conference: Analog and Digital Techniques in Electrical Engineering (IEEE TENCON 2004)
Place	Thailand
City	Chiang Mai
Period	21/11/04 → 24/11/04

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@inproceedings{275a6ff5e4264437b76358ded8bb6c39,

title = "Robot perception planning for industrial inspection",

abstract = "A perception planning method is proposed in this paper to automatically determine sensor positions for a robot in industrial inspection tasks. We consider that there exists a target model in the robot system and the vision sensor needs to move from one pose to another around the target to observe many geometrical features. Multiple 3D images are then taken from different vantage viewpoints and integrated together to analyze the manufacturing quality of the industrial part. Such a perception-planning problem involves determination of the least sensing operations, the optimal spatial distribution sensor placements, and a shortest path through these viewpoints. During the planning, object features are sampled as individual points to reduce the computational complexity. The optimal sensor distribution and robot execution path are determined by objective functions. Experiments are also carried out to demonstrate the proposed method. {\textcopyright} 2004 IEEE.",

author = "Chen, {S. Y.} and Wang, {W. L.} and G. Xiao and Yao, {C. Y.} and Li, {Y. F.}",

year = "2004",

month = nov,

doi = "10.1109/TENCON.2004.1415007",

language = "English",

isbn = "0-7803-8560-8",

volume = "D",

pages = "613--616",

booktitle = "TENCON 2004 - 2004 IEEE Region 10 Conference",

publisher = "IEEE",

address = "United States",

note = "2004 IEEE Region 10 Conference: Analog and Digital Techniques in Electrical Engineering (IEEE TENCON 2004) ; Conference date: 21-11-2004 Through 24-11-2004",

}

Chen, SY, Wang, WL, Xiao, G, Yao, CY & Li, YF 2004, Robot perception planning for industrial inspection. in TENCON 2004 - 2004 IEEE Region 10 Conference: Proceedings. vol. D, IEEE, pp. 613-616, 2004 IEEE Region 10 Conference: Analog and Digital Techniques in Electrical Engineering (IEEE TENCON 2004), Chiang Mai, Thailand, 21/11/04. https://doi.org/10.1109/TENCON.2004.1415007

TY - GEN

T1 - Robot perception planning for industrial inspection

AU - Chen, S. Y.

AU - Wang, W. L.

AU - Xiao, G.

AU - Yao, C. Y.

AU - Li, Y. F.

PY - 2004/11

Y1 - 2004/11

N2 - A perception planning method is proposed in this paper to automatically determine sensor positions for a robot in industrial inspection tasks. We consider that there exists a target model in the robot system and the vision sensor needs to move from one pose to another around the target to observe many geometrical features. Multiple 3D images are then taken from different vantage viewpoints and integrated together to analyze the manufacturing quality of the industrial part. Such a perception-planning problem involves determination of the least sensing operations, the optimal spatial distribution sensor placements, and a shortest path through these viewpoints. During the planning, object features are sampled as individual points to reduce the computational complexity. The optimal sensor distribution and robot execution path are determined by objective functions. Experiments are also carried out to demonstrate the proposed method. © 2004 IEEE.

AB - A perception planning method is proposed in this paper to automatically determine sensor positions for a robot in industrial inspection tasks. We consider that there exists a target model in the robot system and the vision sensor needs to move from one pose to another around the target to observe many geometrical features. Multiple 3D images are then taken from different vantage viewpoints and integrated together to analyze the manufacturing quality of the industrial part. Such a perception-planning problem involves determination of the least sensing operations, the optimal spatial distribution sensor placements, and a shortest path through these viewpoints. During the planning, object features are sampled as individual points to reduce the computational complexity. The optimal sensor distribution and robot execution path are determined by objective functions. Experiments are also carried out to demonstrate the proposed method. © 2004 IEEE.

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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-27944470970&origin=recordpage

U2 - 10.1109/TENCON.2004.1415007

DO - 10.1109/TENCON.2004.1415007

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0-7803-8560-8

VL - D

SP - 613

EP - 616

BT - TENCON 2004 - 2004 IEEE Region 10 Conference

PB - IEEE

T2 - 2004 IEEE Region 10 Conference: Analog and Digital Techniques in Electrical Engineering (IEEE TENCON 2004)

Y2 - 21 November 2004 through 24 November 2004

ER -

Robot perception planning for industrial inspection

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