Cognition system of bolt hole using template matching

Gwan Ryong Baek, Yung Hak Mo, Jae Sik Jeong, Jung Min Park, Myo Taeg Lim

Research output: Contribution to conferencePaperpeer-review

5 Citations (Scopus)


In the construction field, the bolting robot provides convenience and reduces a process time of assembling steel frames. When assembling steel frames, the bolting robot finds a bolt hole with the help of camera. If the light conditions are either too bright or too dark, however, it is hard to find a bolt hole in the input image because the contrast between bolt hole and background is vague. In order to improve detection accuracy in such environment, this paper proposes the image processing algorithm using template matching (TM). First, the input image is converted from RGB to YCbCr in order to reduce influence of shadow. Then we separate Y channel of image in darkness or extract edges from Cb and Cr channel of image in brightness. Template image is created with the radius which can be calculated with the distance to a steel frame. We used TM to create the normalized cross correlation (NCC) image which shows correlation between processed image and template. Finally, bolt holes are extracted from the high-correlation part of NCC image. Experimental results show that the proposed method is robust to detect bolt holes under various illumination conditions.

Original languageEnglish
Number of pages4
Publication statusPublished - 2011
Event28th International Symposium on Automation and Robotics in Construction, ISARC 2011 - Seoul, Korea, Republic of
Duration: 2011 Jun 292011 Jul 2


Other28th International Symposium on Automation and Robotics in Construction, ISARC 2011
Country/TerritoryKorea, Republic of


  • Bolt hole detection
  • Construction automation
  • Image processing
  • Robot
  • Template matching

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Building and Construction


Dive into the research topics of 'Cognition system of bolt hole using template matching'. Together they form a unique fingerprint.

Cite this