Object recognition and user interface design for vision-based autonomous robotic grasping point determination

Fang Che Cheng; Chia Ching Yen; Tay Sheng Jeng

doi:10.52842/conf.caadria.2021.1.633

Object recognition and user interface design for vision-based autonomous robotic grasping point determination

Fang Che Cheng, Chia Ching Yen, Tay Sheng Jeng

Department of Architecture

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

The integration of Robot Operating System (ROS) with Human-Machine Collaboration (HMC) currently represents the future tendency toward Autonomous Robotic In-Situ Assembly on Construction Sites. In comparison with the industrial environment, construction sites nowadays are extremely complex and unpredictable, due to the different building components and customized design.This paper presents a visual-based object recognition method and user interface enabling on-site robot arms to autonomously handle building components, to build specific designs without the influence of material, shape, and environment. The implementation is an object recognition approach that serves with KUKA industrial robotic manipulator along with an RGB-depth stereo camera in an eye-in-hand configuration to grasp and manipulate found elements to build the desired structure. Opportunities for using vision-based autonomous robotic in-situ assembly on construction sites are reviewed.

Original language	English
Title of host publication	Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021
Editors	Anastasia Globa, Jeroen van Ameijde, Adam Fingrut, Nayeon Kim, Tian Tian Sky Lo
Publisher	The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA)
Pages	633-642
Number of pages	10
ISBN (Electronic)	9789887891758
DOIs	https://doi.org/10.52842/conf.caadria.2021.1.633
Publication status	Published - 2021
Event	26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia: Projections, CAADRIA 2021 - Hong Kong, Hong Kong Duration: 2021 Mar 29 → 2021 Apr 1

Publication series

Name	Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021
Volume	1

Conference

Conference	26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia: Projections, CAADRIA 2021
Country/Territory	Hong Kong
City	Hong Kong
Period	21-03-29 → 21-04-01

All Science Journal Classification (ASJC) codes

Computer Graphics and Computer-Aided Design
Building and Construction

Access to Document

10.52842/conf.caadria.2021.1.633

Cite this

Cheng, F. C., Yen, C. C., & Jeng, T. S. (2021). Object recognition and user interface design for vision-based autonomous robotic grasping point determination. In A. Globa, J. van Ameijde, A. Fingrut, N. Kim, & T. T. S. Lo (Eds.), Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021 (pp. 633-642). (Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021; Vol. 1). The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA). https://doi.org/10.52842/conf.caadria.2021.1.633

Cheng, Fang Che ; Yen, Chia Ching ; Jeng, Tay Sheng. / Object recognition and user interface design for vision-based autonomous robotic grasping point determination. Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021. editor / Anastasia Globa ; Jeroen van Ameijde ; Adam Fingrut ; Nayeon Kim ; Tian Tian Sky Lo. The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA), 2021. pp. 633-642 (Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021).

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abstract = "The integration of Robot Operating System (ROS) with Human-Machine Collaboration (HMC) currently represents the future tendency toward Autonomous Robotic In-Situ Assembly on Construction Sites. In comparison with the industrial environment, construction sites nowadays are extremely complex and unpredictable, due to the different building components and customized design.This paper presents a visual-based object recognition method and user interface enabling on-site robot arms to autonomously handle building components, to build specific designs without the influence of material, shape, and environment. The implementation is an object recognition approach that serves with KUKA industrial robotic manipulator along with an RGB-depth stereo camera in an eye-in-hand configuration to grasp and manipulate found elements to build the desired structure. Opportunities for using vision-based autonomous robotic in-situ assembly on construction sites are reviewed.",

author = "Cheng, {Fang Che} and Yen, {Chia Ching} and Jeng, {Tay Sheng}",

note = "Publisher Copyright: {\textcopyright} 2021 and published by the Association for Computer-Aided Architectural Design Research in Asia (CAADRIA), Hong Kong.; 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia: Projections, CAADRIA 2021 ; Conference date: 29-03-2021 Through 01-04-2021",

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doi = "10.52842/conf.caadria.2021.1.633",

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series = "Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021",

publisher = "The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA)",

pages = "633--642",

editor = "Anastasia Globa and {van Ameijde}, Jeroen and Adam Fingrut and Nayeon Kim and Lo, {Tian Tian Sky}",

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Cheng, FC, Yen, CC & Jeng, TS 2021, Object recognition and user interface design for vision-based autonomous robotic grasping point determination. in A Globa, J van Ameijde, A Fingrut, N Kim & TTS Lo (eds), Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021. Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021, vol. 1, The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA), pp. 633-642, 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia: Projections, CAADRIA 2021, Hong Kong, Hong Kong, 21-03-29. https://doi.org/10.52842/conf.caadria.2021.1.633

Object recognition and user interface design for vision-based autonomous robotic grasping point determination. / Cheng, Fang Che; Yen, Chia Ching ; Jeng, Tay Sheng.
Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021. ed. / Anastasia Globa; Jeroen van Ameijde; Adam Fingrut; Nayeon Kim; Tian Tian Sky Lo. The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA), 2021. p. 633-642 (Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Object recognition and user interface design for vision-based autonomous robotic grasping point determination

AU - Cheng, Fang Che

AU - Yen, Chia Ching

AU - Jeng, Tay Sheng

PY - 2021

Y1 - 2021

N2 - The integration of Robot Operating System (ROS) with Human-Machine Collaboration (HMC) currently represents the future tendency toward Autonomous Robotic In-Situ Assembly on Construction Sites. In comparison with the industrial environment, construction sites nowadays are extremely complex and unpredictable, due to the different building components and customized design.This paper presents a visual-based object recognition method and user interface enabling on-site robot arms to autonomously handle building components, to build specific designs without the influence of material, shape, and environment. The implementation is an object recognition approach that serves with KUKA industrial robotic manipulator along with an RGB-depth stereo camera in an eye-in-hand configuration to grasp and manipulate found elements to build the desired structure. Opportunities for using vision-based autonomous robotic in-situ assembly on construction sites are reviewed.

AB - The integration of Robot Operating System (ROS) with Human-Machine Collaboration (HMC) currently represents the future tendency toward Autonomous Robotic In-Situ Assembly on Construction Sites. In comparison with the industrial environment, construction sites nowadays are extremely complex and unpredictable, due to the different building components and customized design.This paper presents a visual-based object recognition method and user interface enabling on-site robot arms to autonomously handle building components, to build specific designs without the influence of material, shape, and environment. The implementation is an object recognition approach that serves with KUKA industrial robotic manipulator along with an RGB-depth stereo camera in an eye-in-hand configuration to grasp and manipulate found elements to build the desired structure. Opportunities for using vision-based autonomous robotic in-situ assembly on construction sites are reviewed.

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M3 - Conference contribution

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T3 - Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021

SP - 633

EP - 642

BT - Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021

A2 - Globa, Anastasia

A2 - van Ameijde, Jeroen

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A2 - Kim, Nayeon

A2 - Lo, Tian Tian Sky

PB - The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA)

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Y2 - 29 March 2021 through 1 April 2021

ER -

Cheng FC, Yen CC , Jeng TS. Object recognition and user interface design for vision-based autonomous robotic grasping point determination. In Globa A, van Ameijde J, Fingrut A, Kim N, Lo TTS, editors, Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021. The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA). 2021. p. 633-642. (Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021). doi: 10.52842/conf.caadria.2021.1.633

Object recognition and user interface design for vision-based autonomous robotic grasping point determination

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