82nd IROAST Seminar “Robotic Vision and Mapping toward Inspection and Maintenance”The 82nd IROAST Seminar, entitled “Robotic Vision and Mapping toward Inspection and Maintenance,” will be held on January 7, 2022 and presented by IROAST visiting professor, Dr. Tomonari Furukawa (University of Virginia, USA). Anyone interested in this seminar is more than welcome to join. It will be held in English and registration is not required. We hope to see you there!
- Date and Time:
January 7 (Fri), 2022, 14:40 -16:10 (fourth-hour-class)
- Hybrid Style:
Venue: Kurokami South C8 (Faculty of Engineering Bldg. 2) Room 212
Zoom: Please contact the IROAST Office to get the meeting ID and password (contact information below).
Professor, Tomonari Furukawa, IROAST visiting professor,
Department of Mechanical and Aerospace Engineering, University of Virginia, USA
Robots have been used for recording or transmitting still images and video streams as technologies advanced. In the current use, humans remain for inspection and maintenance because they can configure three-dimensional (3D) geometry from two-dimensional (2D) information. Such 3D mapping has been studied extensively by the computer vision and robotics communities in the name of 3D reconstruction, but the primary target for mapping was global accuracy. The resulting map with global accuracy is useful for navigating robots, but without sufficient local information, the map cannot be used for inspection and maintenance. As a result, humans should configure the environment and complete the inspection and maintenance tasks.
This talk will review the existing technologies for robotic vision and mapping and first propose a new robotic vision technology, which is developed leveraging photometric stereo (PS). The current robotic vision uses the principles of either stereovision, structured light or time of flight for depth measurement. Because of the use of no or low-resolution transmitted signals, it is challenging for these technologies to achieve the depth accuracy and the resolution needed for inspection and maintenance. The PS-based robotic vision, giving high depth accuracy and resolution, has the potential to be the vision for inspection and maintenance. The second part of the talk will cover the multi-stage mapping technique for inspection and maintenance. While the current mapping technique creates a globally accurate map, the local accuracy and the resolution of the map is not sufficient. In order to guarantee the local accuracy and the resolution, the variable to control is the distance of the sensor to the nearest object. The proposed technique creates a map with high local accuracy and resolution through two steps. In the first step, the path to cover all the surfaces of the environment is created offline. The unoccupancy distance map (UDM) is defined and used to create the path. The second step controls the robot in an online manner. The local accuracy and the resolution are defined in terms of readings from the sensor and guaranteed by controlling the robot.
The talk will also cover other state-of-the-art technologies developed at University of Virginia.
Prof. Makoto Kumon (Faculty of Advanced Science and Technology)
*Please check the website below for more IROAST activities!
Ms. Tae Sato (ext. 3362)
International Research Organization for Advanced Science and Technology (IROAST)