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Bolting Cabin Assistance System Using a Sensor Network

Authors
Mo, Yung-HakChoe, Yun-GeunWoo, Byung-WookPark, Jung-MinLim, Myo-Taeg
Issue Date
5-10월-2012
Publisher
SAGE PUBLICATIONS INC
Keywords
Visual Servo; Fuzzy Reasoning; Circular Hough Transform; Template-Based Matching; Distortion Correction
Citation
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.9
Indexed
SCOPUS
Journal Title
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
Volume
9
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/107225
DOI
10.5772/50980
ISSN
1729-8814
Abstract
The bolting cabin assistance system prevents operators from facing dangerous situations. This system consists of a bolting robot control system and a top view supervisory system. In order to control the bolting robot, circular Hough transforms and fuzzy reasoning are used. First, the circular Hough transform roughly estimates the location of the bolt hole. After that, errors of estimation are compensated for using fuzzy reasoning. In order to track a bolt hole, a region of interest (ROI) is used. By setting the region in which to search for a bolt hole, the algorithm tracks the location of the bolt hole. In order to choose an ROI, a template-based matching algorithm is used. In order to make the top view supervisory system, four cameras are installed at the left, right, front and back of the robot. The four individual images from the various cameras are combined to make the top view image after correcting for distortion.
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