Title :
Vision-based estimation of bolt-hole location using Circular Hough Transform
Author :
Choe, Yungeun ; Lee, Hoo-Cheol ; Kim, Young-Joong ; Hong, Dae-Hie ; Park, Sin-Suk ; Lim, Myo-Taeg
Author_Institution :
Dept. of Electr. Eng., Korea Univ., Seoul, South Korea
Abstract :
In order to use a robot in the construction automation filed, we proposed the concept of Bolting Robot and a visual servo control scheme to track a bolting tool to a bolt hole in the structural steel frame. For estimating a location of a bolt hole, Circular Hough Transform (CHT) was used to extract circles. Generally, CHT is computationally complex due to a power of the dimensionality of a circle. A distance from a camera to a steel frame can be measured by using laser range-finder installed. The radius of a bolt hole can be calculated with the distance to a steel frame. Since the radius is known, the processing of CHT can be reduced to 2D. In addition, it contains image pre-processing to make an image of bolt holes to be clear. Pre-processing has 4 steps which consist of compensating lens distortion, noise filtering, histogram equalization, and edge detection.
Keywords :
Hough transforms; computer vision; construction; edge detection; industrial robots; servomechanisms; structural engineering; visual servoing; bolt hole image; bolt hole location; bolting robot; circle dimensionality; circular Hough transform; construction automation; edge detection; histogram equalization; image preprocessing; laser range finder; lens distortion compensation; noise filtering; structural steel frame; vision-based estimation; visual servo control; Fasteners; Filtering; Histograms; Image edge detection; Lenses; Mechanical engineering; Robot vision systems; Robotics and automation; Servosystems; Steel; Bolt Hole Detection; Circular Hough Transform; Construction Automation; Image Processing; Robot;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3