Model Construction of Pipe by Earthworm Robot Equipped with Omni - Directional Rangefinder
نویسندگان
چکیده
A lot of plumbings exist in factories and so on. Automated inspection of the plumbings by robots is desirable. Many of existing inspection robots have to rotate their cameras because conventional cameras can see only one direction while a plumbing has a cylindrical geometry. The use of an omnidirectional camera is effective for the solution of such problem. However, the shape measurement is difficult only with the omni-directional camera. Then, in this paper, we propose a reconstruction method of a piping shape by using a rangefinder construted with an omni-directional camera and an omni-directional laser. The rangefinder is mounted on an earthworm robot. Experimental results show the effectiveness of the proposed method.
منابع مشابه
Shape Reconstruction of Pipe by Rangefinder Constructed with Omni - Directional Laser and Omni - Directional Camera
A lot of plumbings exist in factories and so on. It is difficult for humans to inspect them directly. Therefore, automated inspection by robots is desirable. However, many of existing inspection robots have to rotate the camera because a conventional camera can see only one direction while a piping has a cylindrical geometry. The use of an omni-directional camera is effective for the solution o...
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