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

Fang Che Cheng, Chia Ching Yen, Tay Sheng Jeng

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題Projections - Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia, CAADRIA 2021
編輯Anastasia Globa, Jeroen van Ameijde, Adam Fingrut, Nayeon Kim, Tian Tian Sky Lo
發行者The Association for Computer-Aided Architectural Design Research in Asia (CAADRIA)
頁面633-642
頁數10
ISBN(電子)9789887891758
出版狀態Published - 2021
事件26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia: Projections, CAADRIA 2021 - Hong Kong, Hong Kong
持續時間: 2021 三月 292021 四月 1

出版系列

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

Conference

Conference26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia: Projections, CAADRIA 2021
國家/地區Hong Kong
城市Hong Kong
期間21-03-2921-04-01

All Science Journal Classification (ASJC) codes

  • 電腦繪圖與電腦輔助設計
  • 建築與營造

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