TY - GEN
T1 - Vision-based estimation of bolt-hole location using circular hough transform
AU - Choe, Yungeun
AU - Lee, Hoo Cheol
AU - Kim, Young Joong
AU - Hong, Dae Hie
AU - Park, Sin Suk
AU - Lim, Myo Taeg
N1 - Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Bolt hole detection
KW - Circular hough transform
KW - Construction automation
KW - Image processing
KW - Robot
UR - http://www.scopus.com/inward/record.url?scp=77951110745&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77951110745
SN - 9784907764333
T3 - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
SP - 4821
EP - 4826
BT - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
T2 - ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
Y2 - 18 August 2009 through 21 August 2009
ER -