스캔 매칭을 이용한 철골 자재 식별 및 위치 인식 (Recognition and Localization of Steel Frame Material Using Scan Matching Method for Automation of Steel Construction)

서지정보

· 발행기관 : 대한건축학회
· 수록지 정보 : 대한건축학회논문집 구조계 / 25권 / 3호 / 93 ~ 100페이지
· 저자명 : 도현민, 김봉근, 이강, 윤석헌, 김용식

초록

Automation and robotization has been required in construction for several decades to reduce the cost and time and to increase
the productivity and safety. Especially for steel construction in high-rise building, the needs for automation is emphasized
because this is inherently a very dangerous and difficult job. As one procedure of automation, the equipment like robotic crane
should carry steel frames from staging area to the installed spot automatically. To do this, the position and pose of steel frames
should be known to robotic crane. This paper presents a recognition and localization method for steel frame materials to remedy
this problem. In the proposed method, the shape model is acquired by RF-ID technology and the loading shape of steel frame
materials in staging area is recognized by laser range finder (LRF) sensors. After clustering the scanned data into several
objects, scan matching method is applied to recognize each object. Experimental results are included to verify the performance of
the proposed method.

영어초록

Automation and robotization has been required in construction for several decades to reduce the cost and time and to increase
the productivity and safety. Especially for steel construction in high-rise building, the needs for automation is emphasized
because this is inherently a very dangerous and difficult job. As one procedure of automation, the equipment like robotic crane
should carry steel frames from staging area to the installed spot automatically. To do this, the position and pose of steel frames
should be known to robotic crane. This paper presents a recognition and localization method for steel frame materials to remedy
this problem. In the proposed method, the shape model is acquired by RF-ID technology and the loading shape of steel frame
materials in staging area is recognized by laser range finder (LRF) sensors. After clustering the scanned data into several
objects, scan matching method is applied to recognize each object. Experimental results are included to verify the performance of
the proposed method.

참고자료

· 없음