Visually Guided Robots for Ship Building

Radu Horaud 1 Bart Lamiroy 1 Tom Drummond 2 Ole Knudsen-Neckelman 3
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : One of the most common operations in ship building is the alignment of a tool with respect to a mock-up. If the tool is mounted onto a robot manipulator then the problem is to properly control the latter such that the desired alignment is accurately achieved. Among various sensors to be used in conjunction with robot control, vision has a number of advantages: it is low-cost, fast, covers a wide field of view and can operate in various configurations such as cameras mounted onto the robot itself or cameras mounted onto independent fixtures. We briefly review the main components of a visually-guided robot system, we compare the relative merits of hand-held cameras and independent-held cameras and we illustrate the alignment of a welding torque with respect to a mock-up. The work is done cooperatively between INRIA Rhône-Alpes, The University of Cambridge and Odense Steel Shipyard as part of the ESPRIT-IV Reactive LTR project 26247 VIGOR (Visually guided robots using uncalibrated cameras).
Type de document :
Communication dans un congrès
1st International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT'00), Mar 2000, Potsdam, Germany. pp.262--275, 2000, 〈http://www.ssi.tu-harburg.de/doc/webseiten_dokumente/compit/dokumente/compit2000_potsdam.pdf〉
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https://hal.inria.fr/inria-00590134
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Soumis le : mardi 3 mai 2011 - 09:24:45
Dernière modification le : mercredi 11 avril 2018 - 01:53:57
Document(s) archivé(s) le : jeudi 4 août 2011 - 02:58:12

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Compit2000.pdf
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Radu Horaud, Bart Lamiroy, Tom Drummond, Ole Knudsen-Neckelman. Visually Guided Robots for Ship Building. 1st International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT'00), Mar 2000, Potsdam, Germany. pp.262--275, 2000, 〈http://www.ssi.tu-harburg.de/doc/webseiten_dokumente/compit/dokumente/compit2000_potsdam.pdf〉. 〈inria-00590134〉

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