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

Fang Che Cheng, Chia Ching Yen, Tay Sheng Jeng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationProjections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021
EditorsAnastasia Globa, Jeroen van Ameijde, Adam Fingrut, Nayeon Kim, Tian Tian Sky Lo
PublisherThe Association for Computer-Aided Architectural Design Research in Asia (CAADRIA)
Pages633-642
Number of pages10
ISBN (Electronic)9789887891758
Publication statusPublished - 2021
Event26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia: Projections, CAADRIA 2021 - Hong Kong, Hong Kong
Duration: 2021 Mar 292021 Apr 1

Publication series

NameProjections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021
Volume1

Conference

Conference26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia: Projections, CAADRIA 2021
Country/TerritoryHong Kong
CityHong Kong
Period21-03-2921-04-01

All Science Journal Classification (ASJC) codes

  • Computer Graphics and Computer-Aided Design
  • Building and Construction

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