Localization of insulators in electric distribution systems by using 3D template matching from multiple range images

Author

Kawamura, Kentaro ; Wheeler, Mark D. ; Yamashita, Okito ; Sato, Yoichi ; Ikeuchi, Katsushi

Author_Institution

Kyushu Electr. Power Co. Inc., Fukuoka, Japan

Volume

3

fYear

1998

fDate

13-17 Oct 1998

Firstpage

1534

Abstract

Kyushu Electric has developed a dual-armed mobile-robot for use in electricity distribution systems. Although some human intervention is still required, the robot greatly reduces the demands on the human operator. In order to automate some of the robot´s capabilities, we have developed a 3D object-localization method for robot positional adjustment. The method is designed to be insensitive to noise and outliers while, at the same time, it has optimal run-time efficiency. The paper first describes our algorithm, and then presents a performance evaluation

Keywords

CCD image sensors; maintenance engineering; manipulators; mobile robots; object detection; power distribution lines; robot vision; telerobotics; 3D object-localization method; 3D template matching; Kyushu Electric; dual-armed mobile-robot; electric distribution systems; insulators; multiple range images; positional adjustment; Accidents; Design methodology; Dielectrics and electrical insulation; Humans; Iterative algorithms; Iterative closest point algorithm; Mobile robots; Robotics and automation; Robustness; Runtime;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.724816

Filename

724816