English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/217859
Share/Impact:
Statistics
logo share SHARE logo core CORE   Add this article to your Mendeley library MendeleyBASE

Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE
Exportar a otros formatos:

Title

Monocular Robust Depth Estimation Vision System for Robotic Tasks Interventions in Metallic Targets

AuthorsVeiga Almagro, Carlos; Castro, Mario Di; Lunghi, Giacomo; Marín Prades, Raúl; Sanz Valero, Pedro José; Ferre Pérez, Manuel; Masi, Alessandro
KeywordsVision
Robotic interventions
Eye-in-hand
Tracking
Hazardous environments
Radioactive scenarios
Issue Date22-Jul-2019
PublisherMolecular Diversity Preservation International
CitationSensors 19 (14): 3220 (2019)
AbstractRobotic interventions in hazardous scenarios need to pay special attention to safety, as in most cases it is necessary to have an expert operator in the loop. Moreover, the use of a multi-modal Human-Robot Interface allows the user to interact with the robot using manual control in critical steps, as well as semi-autonomous behaviours in more secure scenarios, by using, for example, object tracking and recognition techniques. This paper describes a novel vision system to track and estimate the depth of metallic targets for robotic interventions. The system has been designed for on-hand monocular cameras, focusing on solving lack of visibility and partial occlusions. This solution has been validated during real interventions at the Centre for Nuclear Research (CERN) accelerator facilities, achieving 95% success in autonomous mode and 100% in a supervised manner. The system increases the safety and efficiency of the robotic operations, reducing the cognitive fatigue of the operator during non-critical mission phases. The integration of such an assistance system is especially important when facing complex (or repetitive) tasks, in order to reduce the work load and accumulated stress of the operator, enhancing the performance and safety of the mission.
Publisher version (URL)https://doi.org/10.3390/s19143220
URIfile:///C:/Users/macr_/Downloads/sensors-19-03220.pdf
http://hdl.handle.net/10261/217859
DOIhttp://dx.doi.org/10.3390/s19143220
ISSN1424-8220
Appears in Collections:(CAR) Artículos
Files in This Item:
File Description SizeFormat 
Monocular_Robust_Depth_Estimation.pdfArtículo principal26,12 MBAdobe PDFThumbnail
View/Open
Show full item record
Review this work
 


WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.