3D perception for mining robotics

This paper discusses some of the sensing technologies available for guiding robot manipulators for a class of underground mining tasks including drilling jumbos, bolting arms, shotcreters or explosive chargers. Data acquired with such sensors, in the laboratory and underground, is presented.

[1]  Farrokh Sassani,et al.  Kinematic Calibration of Industrial Hydraulic Manipulators , 1996, Robotica.

[2]  Peter Corke,et al.  Visual Control of Robots: High-Performance Visual Servoing , 1996 .

[3]  Ramin Zabih,et al.  Non-parametric Local Transforms for Computing Visual Correspondence , 1994, ECCV.

[4]  Soren W. Henriksen,et al.  Manual of photogrammetry , 1980 .

[5]  Minoru Asada,et al.  Versatile visual servoing without knowledge of true Jacobian , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[6]  Alan K. Mackworth,et al.  A model-based vision system for manipulator position sensing , 1989, [1989] Proceedings. Workshop on Interpretation of 3D Scenes.

[7]  Peter Corke,et al.  Real-time stereopsis using FPGAs , 1997, TENCON '97 Brisbane - Australia. Proceedings of IEEE TENCON '97. IEEE Region 10 Annual Conference. Speech and Image Technologies for Computing and Telecommunications (Cat. No.97CH36162).

[8]  D. E. Whitney,et al.  The mathematics of coordinated control of prosthetic arms and manipulators. , 1972 .

[9]  Shree K. Nayar,et al.  Focus Range Sensors , 1996 .

[10]  Risto Myllylä,et al.  Acquisition Of Three-Dimensional Image Data By A Scanning Laser Range Finder , 1989 .

[11]  Dana H. Ballard,et al.  Computer Vision , 1982 .

[12]  A. E. Brain,et al.  The measurement and use of registered reflectance and range data in scene analysis , 1977, Proceedings of the IEEE.

[13]  Ray A. Jarvis,et al.  A Perspective on Range Finding Techniques for Computer Vision , 1983, IEEE Transactions on Pattern Analysis and Machine Intelligence.