The objective of this research is to evaluate vision-based pose estimation methods for on-site construction robots. The prospect of human-robot collaborative work on construction sites introduces new workplace hazards that must be mitigated to ensure safety. Human workers working on tasks alongside construction robots must perceive the interaction to be safe to ensure team identification and trust. Detecting the robot pose in real-time is thus a key requirement in order to inform the workers and to enable autonomous operation. Vision-based (marker-less, marker-based) and sensor-based (IMU, UWB) are two of the main methods for estimating robot pose. The marker-based and sensor-based methods require some additional preinstalled sensors or markers, whereas the marker-less method only requires an on-site camera system, which is common on modern construction sites. In this research, we develop a marker-less pose estimation system, which is based on a convolutional neural network (CNN) human pose estimation algorithm: stacked hourglass networks. The system is trained with image data collected from a factory setup environment and labels of excavator pose. We use a KUKA robot arm with a bucket mounted on the end-effector to represent a robotic excavator in our experiment. We evaluate the marker-less method and compare the result with the robot’s ground truth pose. The preliminary results show that the marker-less method is capable of estimating the pose of the excavator based on a state-of-the-art human pose estimation algorithm.
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Reality Capture Technologies (LiDAR, RGB-D, Vision)
Struck-by accidents are potential safety concerns on construction sites and require a robust
machine pose estimation. The development of deep learning methods has enhanced the human pose estimation that can be adapted for articulated machines. These methods require abundant dataset for training, which is challenging and time-consuming to obtain on-site. This paper proposes a fast data collection approach to build the dataset for excavator pose estimation. It uses two industrial robot arms as the excavator and the camera monopod to collect different excavator pose data. The 3D annotation can be obtained from the robot's embedded encoders. The 2D pose is annotated manually. For evaluation, 2,500 pose images were collected and trained with the stacked hourglass network. The results showed that the dataset is suitable for the excavator pose estimation network training in a controlled environment, which leads to the potential of the dataset augmenting with real construction site images.
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- Award ID(s):
- 1734266
- NSF-PAR ID:
- 10110140
- Date Published:
- Journal Name:
- Fast Dataset Collection Approach for Articulated Equipment Pose Estimation
- Page Range / eLocation ID:
- 146 to 152
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1061/9780784482438.019
