TY - GEN

T1 - Robotic System for Mapping 3D in-wall Information for Craftsmen

AU - Vorndamme, J.

AU - Petereit, Steffen

AU - Pitzer, B.

AU - Roan, P.

AU - Lilge, T.

AU - Albert, Amos

N1 - CD-ROM

PY - 2012/5/1

Y1 - 2012/5/1

N2 - This paper presents a robotic system for autonomously scanning wall surfaces by means of inductive, capacitive and AC measurements in order to gather information about flush-mounted power lines, water pipes and cavities. From these data the system generates a 3D map with in-wall information. Algorithms for surface scanning are described enabling robust methods for data acquisition and fusion of the scanning and localization data. The paper describes and evaluates two methods for reconstructing surface and in-wall information: The first one uses occupancy grid mapping along with the elaborated sensing model of the wall scanner, the second is a combination of scanning and mapping. The created 3D map is made available to a second system that projects the map onto the wall surface, removing distortions induced by the lack of a perpendicular projection. That system provides craftsmen the additional information to prevent hitting wires or water pipes when performing drilling tasks. The utilized robots make use of the robot software framework ROS.

AB - This paper presents a robotic system for autonomously scanning wall surfaces by means of inductive, capacitive and AC measurements in order to gather information about flush-mounted power lines, water pipes and cavities. From these data the system generates a 3D map with in-wall information. Algorithms for surface scanning are described enabling robust methods for data acquisition and fusion of the scanning and localization data. The paper describes and evaluates two methods for reconstructing surface and in-wall information: The first one uses occupancy grid mapping along with the elaborated sensing model of the wall scanner, the second is a combination of scanning and mapping. The created 3D map is made available to a second system that projects the map onto the wall surface, removing distortions induced by the lack of a perpendicular projection. That system provides craftsmen the additional information to prevent hitting wires or water pipes when performing drilling tasks. The utilized robots make use of the robot software framework ROS.

KW - Autonomous wall scanning

KW - in-wall information

KW - flush-mounted piping and electric installations

KW - sensor fusion and localization to a 3D-map

KW - projection of in-wall information

KW - SLAM

KW - occupancy grid mapping

KW - ROS

M3 - Aufsatz in Konferenzband

SP - 24

EP - 29

BT - Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012)

PB - VDE Verlag GmbH

CY - Munich, Germany

ER -