Automated inspection of door parts based on fuzzy recognition system

Tomasz Winiarski , Włodzimierz Kasprzak , Maciej Stefańczyk , Michał Walęcki


The article presents a comprehensive strategy of door parts (locks, handles, doorplates etc.) examination as a paradigm of active sensing. It covers the whole process - from segmentation, through initial hypothesis generation based on fuzzy inference, to final recognition and precise localization of the keyholes in a robot base coordinate system. The strategy is a preliminary stage of a door locks opening procedure. The image analysis process is divided into three steps. First, an initial region of interest is localized using a RGB-D low resolution camera mounted on the robot's head. It is then categorized, based on its properties, as a lock, handle, doorplate etc. Finally it is inspected using 2D camera mounted on the robot's arm. Thanks to the preliminary localization with the head camera the robot can look at the point of interest at sight, without time-consuming thorough inspection of the whole door. The whole system was formally specified as an embodied agent. For that purpose a system modeling language was used to specify embodied agent subsystems behaviors. The proposed strategy is verified experimentally using Velma prototype service robot.
Author Tomasz Winiarski IAiIS
Tomasz Winiarski,,
- The Institute of Control and Computation Engineering
, Włodzimierz Kasprzak IAiIS
Włodzimierz Kasprzak,,
- The Institute of Control and Computation Engineering
, Maciej Stefańczyk IAiIS
Maciej Stefańczyk,,
- The Institute of Control and Computation Engineering
, Michał Walęcki IAiIS
Michał Walęcki,,
- The Institute of Control and Computation Engineering
Publication size in sheets0.5
Book Proceedings of 21st IEEE Conference on Method and Models in Automation and Robotics, 2016, IEEE Institute of electrical and Electronics Engineers, ISBN 978-1-5090-1715-7, 1285 p., DOI:10.1109/MMAR.2016.7575223
Keywords in English Cameras, Robot kinematics, Robot vision systems, Head, Torso
projectMethodology of design and implementation of multi-sensory robotic systems for service purposes. Project leader: Winiarski Tomasz, , Phone: 7649, 7117, start date 01-02-2013, planned end date 31-01-2016, end date 03-10-2016, 505M/1031/0043, Completed
WEiTI Projects financed by NSC [Projekty finansowane przez NCN]
Languageen angielski
winiarski i in_automated-1 mmar16.pdf (file archived - login or check accessibility on faculty) winiarski i in_automated-1 mmar16.pdf 1.67 MB
Score (nominal)15
ScoreMinisterial score = 15.0, 27-03-2017, BookChapterMatConf
Ministerial score (2013-2016) = 15.0, 27-03-2017, BookChapterMatConf
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