Vision-based estimation of bolt-hole location using circular hough transform

Yungeun Choe, Hoo Cheol Lee, Young Joong Kim, Daehie Hong, Shin Suk Park, Myo Taeg Lim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

In order to use a robot in the construction automation filed, we proposed the concept of Bolting Robot and a visual servo control scheme to track a bolting tool to a bolt hole in the structural steel frame. For estimating a location of a bolt hole, Circular Hough Transform (CHT) was used to extract circles. Generally, CHT is computationally complex due to a power of the dimensionality of a circle. A distance from a camera to a steel frame can be measured by using laser range-finder installed. The radius of a bolt hole can be calculated with the distance to a steel frame. Since the radius is known, the processing of CHT can be reduced to 2D. In addition, it contains image pre-processing to make an image of bolt holes to be clear. Pre-processing has 4 steps which consist of compensating lens distortion, noise filtering, histogram equalization, and edge detection.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages4821-4826
Number of pages6
Publication statusPublished - 2009 Dec 1
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: 2009 Aug 182009 Aug 21

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period09/8/1809/8/21

Fingerprint

Hough transforms
Bolts
Steel
Processing
Robots
Range finders
Edge detection
Lenses
Automation
Cameras
Lasers

Keywords

  • Bolt hole detection
  • Circular hough transform
  • Construction automation
  • Image processing
  • Robot

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Choe, Y., Lee, H. C., Kim, Y. J., Hong, D., Park, S. S., & Lim, M. T. (2009). Vision-based estimation of bolt-hole location using circular hough transform. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 4821-4826). [5334375]

Vision-based estimation of bolt-hole location using circular hough transform. / Choe, Yungeun; Lee, Hoo Cheol; Kim, Young Joong; Hong, Daehie; Park, Shin Suk; Lim, Myo Taeg.

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. p. 4821-4826 5334375.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Choe, Y, Lee, HC, Kim, YJ, Hong, D, Park, SS & Lim, MT 2009, Vision-based estimation of bolt-hole location using circular hough transform. in ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings., 5334375, pp. 4821-4826, ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009, Fukuoka, Japan, 09/8/18.
Choe Y, Lee HC, Kim YJ, Hong D, Park SS, Lim MT. Vision-based estimation of bolt-hole location using circular hough transform. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. p. 4821-4826. 5334375
Choe, Yungeun ; Lee, Hoo Cheol ; Kim, Young Joong ; Hong, Daehie ; Park, Shin Suk ; Lim, Myo Taeg. / Vision-based estimation of bolt-hole location using circular hough transform. ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. pp. 4821-4826
@inproceedings{2a95040b149643e39142e2261f170a6b,
title = "Vision-based estimation of bolt-hole location using circular hough transform",
abstract = "In order to use a robot in the construction automation filed, we proposed the concept of Bolting Robot and a visual servo control scheme to track a bolting tool to a bolt hole in the structural steel frame. For estimating a location of a bolt hole, Circular Hough Transform (CHT) was used to extract circles. Generally, CHT is computationally complex due to a power of the dimensionality of a circle. A distance from a camera to a steel frame can be measured by using laser range-finder installed. The radius of a bolt hole can be calculated with the distance to a steel frame. Since the radius is known, the processing of CHT can be reduced to 2D. In addition, it contains image pre-processing to make an image of bolt holes to be clear. Pre-processing has 4 steps which consist of compensating lens distortion, noise filtering, histogram equalization, and edge detection.",
keywords = "Bolt hole detection, Circular hough transform, Construction automation, Image processing, Robot",
author = "Yungeun Choe and Lee, {Hoo Cheol} and Kim, {Young Joong} and Daehie Hong and Park, {Shin Suk} and Lim, {Myo Taeg}",
year = "2009",
month = "12",
day = "1",
language = "English",
isbn = "9784907764333",
pages = "4821--4826",
booktitle = "ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings",

}

TY - GEN

T1 - Vision-based estimation of bolt-hole location using circular hough transform

AU - Choe, Yungeun

AU - Lee, Hoo Cheol

AU - Kim, Young Joong

AU - Hong, Daehie

AU - Park, Shin Suk

AU - Lim, Myo Taeg

PY - 2009/12/1

Y1 - 2009/12/1

N2 - In order to use a robot in the construction automation filed, we proposed the concept of Bolting Robot and a visual servo control scheme to track a bolting tool to a bolt hole in the structural steel frame. For estimating a location of a bolt hole, Circular Hough Transform (CHT) was used to extract circles. Generally, CHT is computationally complex due to a power of the dimensionality of a circle. A distance from a camera to a steel frame can be measured by using laser range-finder installed. The radius of a bolt hole can be calculated with the distance to a steel frame. Since the radius is known, the processing of CHT can be reduced to 2D. In addition, it contains image pre-processing to make an image of bolt holes to be clear. Pre-processing has 4 steps which consist of compensating lens distortion, noise filtering, histogram equalization, and edge detection.

AB - In order to use a robot in the construction automation filed, we proposed the concept of Bolting Robot and a visual servo control scheme to track a bolting tool to a bolt hole in the structural steel frame. For estimating a location of a bolt hole, Circular Hough Transform (CHT) was used to extract circles. Generally, CHT is computationally complex due to a power of the dimensionality of a circle. A distance from a camera to a steel frame can be measured by using laser range-finder installed. The radius of a bolt hole can be calculated with the distance to a steel frame. Since the radius is known, the processing of CHT can be reduced to 2D. In addition, it contains image pre-processing to make an image of bolt holes to be clear. Pre-processing has 4 steps which consist of compensating lens distortion, noise filtering, histogram equalization, and edge detection.

KW - Bolt hole detection

KW - Circular hough transform

KW - Construction automation

KW - Image processing

KW - Robot

UR - http://www.scopus.com/inward/record.url?scp=77951110745&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77951110745&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:77951110745

SN - 9784907764333

SP - 4821

EP - 4826

BT - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

ER -