Hierarchical Segmentation of Piecewise Pseudoextruded Surfaces for Uniform Coverage

Atkar, P.N.; Conner, David C.; Greenfield, Aaron; Choset, Howie

doi:10.1109/tase.2008.916768

Cited by 31 publications

(15 citation statements)

References 9 publications

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“…Perhaps using a segmentation approach like that proposed in Atkar et al. () to segment the target terrain into regions bounded by high‐curvature edges could result in more meaningful regions for which it is more clear what coverage strategy to use. However, the method proposed by Atkar et al.…”

Section: Resultsmentioning

confidence: 99%

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Coverage Path Planning with Real-time Replanning and Surface Reconstruction for Inspection of Three-dimensional Underwater Structures using Autonomous Underwater Vehicles

et al. 2014

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We present a novel method for planning coverage paths for inspecting complex structures on the ocean floor using an autonomous underwater vehicle (AUV). Our method initially uses a 2.5-dimensional (2.5D) prior bathymetric map to plan a nominal coverage path that allows the AUV to pass its sensors over all points on the target area. The nominal path uses a standard mowing-the-lawn pattern in effectively planar regions, while in regions with substantial 3D relief it follows horizontal contours of the terrain at a given offset distance. We then go beyond previous approaches in the literature by considering the vehicle's state uncertainty rather than relying on the unrealistic assumption of an idealized path execution. Toward that end, we present a replanning algorithm based on a stochastic trajectory optimization that reshapes the nominal path to cope with the actual target structure perceived in situ. The replanning algorithm runs onboard the AUV in real time during the inspection mission, adapting the path according to the measurements provided by the vehicle's range-sensing sonars. Furthermore, we propose a pipeline of state-of-the-art surface reconstruction techniques we apply to the data acquired by the AUV to obtain 3D models of the inspected structures that show the benefits of our planning method for 3D mapping. We demonstrate the efficacy of our method in experiments at sea using the GIRONA 500 AUV, where we cover part of a breakwater structure in a harbor and an underwater boulder rising from 40 m up to 27 m depthThis research has been sponsored by the Government of Spain (COMAROB Project, DPI2011-27977-C03-02), the MORPH EU FP7-Project (grant agreement FP7-ICT-2011-7-288704), and the Eurofleets2 EU FP7-Project (grant agreement FP7-INF-2012-312762). The authors are grateful to Lluis Magi, Carles Candela, and Arnau Carrera for helping with the GIRONA 500 operation

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Section: Resultsmentioning

confidence: 99%

“…However, the method proposed by Atkar et al. () exploited high curvature features present in automotive surfaces, such as weld lines, which have no clear counterpart in underwater environments. Exploring possible algorithmic combinations of the two proposed coverage patterns is an interesting subject for further research.…”

Section: Resultsmentioning

confidence: 99%

Coverage Path Planning with Real-time Replanning and Surface Reconstruction for Inspection of Three-dimensional Underwater Structures using Autonomous Underwater Vehicles

et al. 2014

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“…Demonstrated in simulation for simple 3D surfaces (polyhedra). Hierarchical segmentation of pseudo-extruded surfaces [Atkar et al, 2009] Off-line Car-like parts (pseudo-extruded surfaces)…”

Section: -Dimensional Coveragementioning

confidence: 99%

A survey on coverage path planning for robotics

Galceran

Carreras

2013

Robotics and Autonomous Systems

1,202

602

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Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing in the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works.

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“…Figure 2) without having irregular (or even inconsistent) paths. Based on (Atkar, Conner, Greenfield, Choset, & Rizzi, 2009), three successive segmentations are performed to partition this surface: a. A segmentation based on the curvature of the surface and called "watershed segmentation" (Mangan & Whitaker, 1999).…”

Section: Introductionmentioning

confidence: 99%

Path planning for eddy current inspection around probable defects

Olivieri

Birglen²,

Maldague³

et al. 2015

Can. Aeronaut. Space J.

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Part quality is an important aspect in the aerospace industry in order to avoid unpredictable and irreversible damages, and to ensure a long lifecycle. To ensure quality, non destructive testing (NDT) techniques are applied on parts and one of the most frequently used in the aerospace industry is eddy current testing (ECT). However, the latter is still mainly performed manually, enticing high costs in addition to be time-consuming. In this case, reliability and repeatability of inspection results are also limited due to their high dependence on the human operator. As part of an effort to robotize ECT with a 6 DOF manipulator arm and thus, free oneself from the many drawbacks of manual inspections, the authors previously proposed a coverage path planning methodology dedicated to complex aeronautical surfaces. However, orientation of the probe along these paths were not initially considered during this previous work while it is as much important as position information given that the probe must keep a normal orientation with respect to the surface to inspect it reliably. Following on from this previous work, the computation of these orientations along every point of the path is presented in this paper. Furthermore, another coverage path planning methodology is developed to inspect with ECT around a probable defect whose position is assumed to be known a priori. Once positions and orientations along inspection paths are computed, a simulation with a robotic simulation software (MotoSim) is made to generate the joint trajectories of a manipulator arm MotoMan SV3XL and teach it the automated inspection task. Afterwards, experiments using this manipulator with a mock-up representing a probe is realized. After these first experiments, it is observed that the motion of the robot is what one can expect during an efficient inspection around a known indication. et orientations calculées le long de ces chemins, les trajectoires d'un bras manipulateur MotoMan SV3XL qui permettront de suivre ces chemins sont ensuite déduites à l'aide d'un logiciel de simulation robotique (MotoSim). Enfin, un test expérimental sur le robot précédemment simulé est effectué en remplaçant la sonde par une maquette représentative de celle-ci. À la suite de ce test, les trajectoires du robot sont, à première vue, celles attendues pour réaliser une inspection efficace autour d'une indication.

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Hierarchical Segmentation of Piecewise Pseudoextruded Surfaces for Uniform Coverage

Cited by 31 publications

References 9 publications

Coverage Path Planning with Real-time Replanning and Surface Reconstruction for Inspection of Three-dimensional Underwater Structures using Autonomous Underwater Vehicles

Coverage Path Planning with Real-time Replanning and Surface Reconstruction for Inspection of Three-dimensional Underwater Structures using Autonomous Underwater Vehicles

A survey on coverage path planning for robotics

Path planning for eddy current inspection around probable defects

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