Vision-Based Hierarchical Recognition for Dismantling Robot Applied to Interior Renewal of Buildings

Computer-Aided Civil and Infrastructure Engineering

Volumn 26, Issue 5, 2011, Pages 336-355

  Cruz Ramírez, S Rolando ^a   Mae, Yasushi ^a   Arai, Tatsuo ^a   Takubo, Tomohito ^a   Ohara, Kenichi ^a  

^a OSAKA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

3D POSITIONS; FALSE POSITIVE; HIERARCHICAL RECOGNITION; IMAGE INTEGRATION; IN-BUILDINGS; LARGE STRUCTURES; LIGHT GAUGES; LIGHTING CONDITIONS; LINE DETECTION; LINEAR SEGMENTS; MULTI-TEMPLATE MATCHING; POSE DETECTION; REALISTIC ENVIRONMENTS; ROBOT ARMS; ROBOTIC SYSTEMS; STEREO CAMERAS; TRUE POSITIVE RATES; VISION BASED;

CAMERAS; EXPERIMENTS; IMAGE MATCHING; ROBOTS; TEMPLATE MATCHING; THREE DIMENSIONAL;

SCREWS;

ALGORITHM; BUILDING; COMPUTER AIDED DESIGN; DEMOLITION; DETECTION METHOD; HIERARCHICAL SYSTEM; ROBOTICS; STEREO IMAGE; TRAJECTORY;

EID: 79955536253     PISSN: 10939687     EISSN: 14678667     Source Type: Journal    
DOI: 10.1111/j.1467-8667.2010.00689.x     Document Type: Article

References (43)

1. Abe, D., Segawa, E., Nakayama, O., Shiohara, M., Sasaki, S., Sugano, N. & Kanno, H. (2007), Robust small-object detection for outdoor wide-area surveillance, in Proceedings of MVA2007 IAPR Conference on Machine Vision Applications, Tokyo, Japan, 548-51.
2. Bailey-Van, K. M. (2002), Automated demanufacturing studies in detecting and destroying threaded connections for processing electronic waste, in Proceedings of the IEEE International Symposium on Electronics and the Environment, 295-98.
3. Bakari, M. J., Zied, K. M. & Seward, D. W. (2007), Development of a multi-arm mobile robot for nuclear decommissioning tasks, Advanced Robotic Systems, 4(4), 387-406.
4. Balaguer, C. & Abderrahim, M.eds. (2008), Robotics and Automation in Construction, I-Tech Education and Publishing, Croatia.
5. Büker, U., Drüe, S., Götze, N., Hartmann, G., Kalkreuter, B., Stemmer, R. & Trapp, R. (2001), Vision-based control of an autonomous disassembly station, Journal of Robotics and Autonomous Systems, 35, 179-89.
6. Burges, C. (1998), A tutorial on support vector machines for pattern recognition, Data Mining and Knowledge Discovery, 2, 121-67.
7. Canny, J. (1986), A computational approach to edge detection, IEEE Transactions on Pattern Analysis and Machine Intelligence, 8(6), 679-98.
8. Cheng, M. Y. & Wu, Y. W. (2009), Evolutionary support vector machine inference system for construction management, Automation in Construction, 18(5), 597-604.
9. Chi, S., Caldas, C. H. & Kim, D. Y. (2009), A methodology for object identification and tracking in construction based on spatial modeling and image matching techniques, Computer-Aided Civil and Infrastructure Engineering, 24(3), 199-211.
10. Chu, B., Kim, D. & Hong, D. (2008), Robotic automation technologies in construction: a review, International Journal of Precision Engineering and Manufacturing, 9(3), 85-91.
11. Cruz-Ramírez, S. R., Ishizuka, Y., Mae, Y., Takubo, T. & Arai, T. (2008a), Dismantling interior facilities in buildings by human robot collaboration, in Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 2583-90.
12. Cruz-Ramírez, S. R., Mae, Y., Takubo, T. & Arai, T. (2008b), Detection of screws on metal-ceiling structures for dismantling tasks in buildings, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Nice, France, 4123-29.
13. Davies, D., Palmer, P. L. & Mirmehdi, M. (1998), Detection and tracking of very small low-contrast objects, in Proceedings of the 9th British Machine Vision Conference, Southampton, UK, 599-608.
14. Dini, G., Failli, F. & Santochi, M. (2001), A disassembly planning software system for the optimization of recycling processes, Journal of Production Planning and Control, 12, 2-12.
15. Fawcett, T. (2006), An introduction to ROC analysis, The International Journal of Pattern Recognition Letters, 27, 861-74.
16. Felzenszwalb, P., McAllester, D. & Ramanan, D. (2008), A discriminatively trained, multiscale, deformable part model, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, Anchorage, AK, 1-8.
17. Figueiredo, J. & Sá da Costa, J. (2008), Operative platform applied to building automation, Computer-Aided Civil and Infrastructure Engineering, 24(1), 26-40.
18. Fu, K. S., Gonzalez, R. C. & Lee, C. S. G. (1987), Robotics: Control, Sensing, Vision, and Intelligence, Mcgraw-Hill, New York.
19. Gil, P., Pomares, J., Puente C., Diaz, S. vT., Candelas, F. & Torres, F. (2007), Flexible multi-sensorial system for automatic disassembly using cooperative robots, International Journal of Computer Integrated Manufacturing, 20(8), 757-72.
20. Hough, P. V. C. (1962), Method and Means for Recognizing Complex Patterns, U.S. Patent 3, 069, 654.
21. Hsieh, F. Y., Han, C. C., Wu, N. S., Chuang, T. C. & Fan, K. C. (2006), A novel approach to the detection of small objects with low contrast, Signal Processing, 86, 71-83.
22. Hsu, C. W., Chang, C. C. & Lin, C. J. (2008), A Practical Guide To Support Vector Classification, Technical report, Department of Computer Science, National Taiwan University.
23. Hu, Z. & Tsai, Y. (2009), A homography-based vision algorithm for traffic sign attribute computation, Computer-Aided Civil and Infrastructure Engineering, 24(6), 385-400.
24. Huang, Y., Llach, J. & Zhang, C. (2008), A method of small object detection and tracking based on particle filters, in Proceedings of 19th International Conference on Pattern Recognition ICPR 2008, Tampa, FL, 1-4.
25. Intel Open source Computer Vision library (OpenCV) (2007), Available at:, accessed January 30, 2007.
26. Ishizuka, Y., Cruz-Ramírez, S. R., Mae, Y., Takubo, T. & Arai, T. (2008), Usability of interface devices for human robot collaboration, in Proceedings of the International Symposium on Flexible Automation, Atlanta, GA, USA, JL036.
27. Lowe, D. G. (2004), Distinctive image features from scale-invariant keypoints, International Journal of Computer Vision, 60(2), 91-110.
28. Maeda, J., Takada, H. & Abe, Y. (2004), Applicable possibility studies on a humanoid robot to cooperative work on construction site with a human worker, in Proceedings of the 21st International Symposium on Automation and Robotics in Construction, Jeju, Korea, 334-39.
29. Marino, F., Distante, A., Mazzeo, P. L. & Stella, E. (2007), A real-time visual inspection system for railway maintenance: automatic hexagonal-headed bolts detection, IEEE Transactions on Systems, Man, and Cybernetics-Part C: Applications and Reviews, 37(3), 418-28.
30. MLIT (1998), (Ministry of Land, Infrastructure and Transport, Japan), Task Committee on New Construction Industry, Bureau of Construction Economy. Available at:, in Japanese, accessed July 1, 2008.
31. Müller K. R., Mika S., Rätsch G., Tsuda K. & Schölkopf, B. (2001), An introduction to kernel-based learning algorithms, IEEE Transactions on Neural Networks, 12(2), 181-201.
32. Naito, J., Obinata, G., Nakayama, A. & Hase, K. (2007), Development of a wearable robot for assisting carpentry workers, Advanced Robotic Systems, 4(4), 431-36.
33. Noble, W. S. (2004), Support vector machine applications in computational biology, in B. Schoelkopf, K. Tsuda & J.-P. Vert (eds.), Kernel Methods in Computational Biology, MIT Press, Cambridge, MA, pp. 71-92.
34. Noyer, J. C., Lanvin, P. & Benjelloun, M. (2009), Correlation-based particle filter for 3D Object tracking, Integrated Computer-Aided Engineering, 16(2), 165-77.
35. Oomichi, T., Arai, T., Inoue, K., Kotoku, T., Tanikawa, T. & Maeda, J. (2007), Dismantle robot system for categorizing wastes of building renewal, in Proceedings of the JSME Conference on Robotics and Mechatronics, Akita, Japan, 1P1-M06 ( in Japanese).
36. Osuna, E., Freund, R. & Girosi, F. (1997), Training support vector machines: an application to face detection, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, Puerto Rico, 130-36.
37. Point Grey Research, (2007) Available at:, Bumblebee2, accessed October 1, 2008.
38. Sarle, W. S., ed. (1997), Neural Network FAQ, Periodic Posting to the Usenet Newsgroup comp.ai.neural-nets. Available at:, accessed April 1, 2009.
39. Schraft, R. D., Meyer, C., Parlitz, C. & Helms, E. (2005), PowerMate: a safe and intuitive robot assistant for handling and assembly tasks, in Proceedings of the IEEE International Conference on Robotics and Automation, Ferrara, Italy, 4085-90.
40. Shimoi, Y., Kanemaru, K., Morita, T., Fujishima, K., Tomita, K. & Iwasaki, A. (2006), Operability assessment of indoor dismantlement assistance machine, in Proceedings of the 23rd International Symposium on Automation and Robotics in Construction, Tokyo, Japan, 822-27.
41. Vapnik, V. N. (1995), The Nature of Statistical Learning Theory, Springer, New York.
42. Viola, P. & Jones, M. J. (2004), Robust real-time face detection, International Journal of Computer Vision, 57(2), 137-54.
43. Yu, S. N., Lee, S. Y., Han, C. S., Lee, K. Y. & Lee, S. H. (2007), Development of the curtain wall installation robot: performance and efficiency tests at a construction site, Autonomous Robots, 22(3), 281-91.