Fast Calibration of Industrial Mobile Robots to Workstations using QR Codes

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

8 Citations (Scopus)

Abstract

Much research is directed at developing increasingly efficient and flexible production, and one important potential advancement is the robots known as Autonomous Industrial Mobile Manipulators (AIMMs). The idea behind AIMMs is to have robots that can move around and have the ability to perform a wide variety of tasks, while at the same time being fast and easy to configure and program. When an AIMM moves from one workstation to another, it is essential that it is able to calibrate its position with respect to that new station. In this paper, a new and fast calibration method based on QR codes is proposed. With this QR calibration, it is possible to calibrate an AIMM to a workstation in 3D in less than 1 second, which is significantly faster than existing methods. The accuracy of the calibration is ±4 mm. The method is modular in the sense that it directly supports integration and calibration of a new camera. The calibration have been implemented on Aalborg University's AIMM, Little Helper, and tested both in a laboratory and in a real-life industrial environment at the Danish pump manufacturer Grundfos A/S.
Original languageEnglish
Title of host publicationProceedings of the 44th International Symposium on Robotics ISR 2013
Number of pages6
PublisherIEEE Press
Publication date2013
Article numberwon the prize: Best paper at ISR 2013
ISBN (Print)978-1-4799-1171-4
DOIs
Publication statusPublished - 2013
EventInternational Symposium on Robotics (ISR 2013) - Seoul, Korea, Republic of
Duration: 24 Oct 201326 Oct 2013

Conference

ConferenceInternational Symposium on Robotics (ISR 2013)
CountryKorea, Republic of
CitySeoul
Period24/10/201326/10/2013

Cite this

Andersen, R. S., Damgaard, J. S., Madsen, O., & Moeslund, T. B. (2013). Fast Calibration of Industrial Mobile Robots to Workstations using QR Codes. In Proceedings of the 44th International Symposium on Robotics ISR 2013 [won the prize: Best paper at ISR 2013] IEEE Press. https://doi.org/10.1109/ISR.2013.6695636
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title = "Fast Calibration of Industrial Mobile Robots to Workstations using QR Codes",
abstract = "Much research is directed at developing increasingly efficient and flexible production, and one important potential advancement is the robots known as Autonomous Industrial Mobile Manipulators (AIMMs). The idea behind AIMMs is to have robots that can move around and have the ability to perform a wide variety of tasks, while at the same time being fast and easy to configure and program. When an AIMM moves from one workstation to another, it is essential that it is able to calibrate its position with respect to that new station. In this paper, a new and fast calibration method based on QR codes is proposed. With this QR calibration, it is possible to calibrate an AIMM to a workstation in 3D in less than 1 second, which is significantly faster than existing methods. The accuracy of the calibration is ±4 mm. The method is modular in the sense that it directly supports integration and calibration of a new camera. The calibration have been implemented on Aalborg University's AIMM, Little Helper, and tested both in a laboratory and in a real-life industrial environment at the Danish pump manufacturer Grundfos A/S.",
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Andersen, RS, Damgaard, JS, Madsen, O & Moeslund, TB 2013, Fast Calibration of Industrial Mobile Robots to Workstations using QR Codes. in Proceedings of the 44th International Symposium on Robotics ISR 2013., won the prize: Best paper at ISR 2013, IEEE Press, Seoul, Korea, Republic of, 24/10/2013. https://doi.org/10.1109/ISR.2013.6695636

Fast Calibration of Industrial Mobile Robots to Workstations using QR Codes. / Andersen, Rasmus Skovgaard; Damgaard, Jens Skov; Madsen, Ole; Moeslund, Thomas B.

Proceedings of the 44th International Symposium on Robotics ISR 2013. IEEE Press, 2013. won the prize: Best paper at ISR 2013.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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PY - 2013

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N2 - Much research is directed at developing increasingly efficient and flexible production, and one important potential advancement is the robots known as Autonomous Industrial Mobile Manipulators (AIMMs). The idea behind AIMMs is to have robots that can move around and have the ability to perform a wide variety of tasks, while at the same time being fast and easy to configure and program. When an AIMM moves from one workstation to another, it is essential that it is able to calibrate its position with respect to that new station. In this paper, a new and fast calibration method based on QR codes is proposed. With this QR calibration, it is possible to calibrate an AIMM to a workstation in 3D in less than 1 second, which is significantly faster than existing methods. The accuracy of the calibration is ±4 mm. The method is modular in the sense that it directly supports integration and calibration of a new camera. The calibration have been implemented on Aalborg University's AIMM, Little Helper, and tested both in a laboratory and in a real-life industrial environment at the Danish pump manufacturer Grundfos A/S.

AB - Much research is directed at developing increasingly efficient and flexible production, and one important potential advancement is the robots known as Autonomous Industrial Mobile Manipulators (AIMMs). The idea behind AIMMs is to have robots that can move around and have the ability to perform a wide variety of tasks, while at the same time being fast and easy to configure and program. When an AIMM moves from one workstation to another, it is essential that it is able to calibrate its position with respect to that new station. In this paper, a new and fast calibration method based on QR codes is proposed. With this QR calibration, it is possible to calibrate an AIMM to a workstation in 3D in less than 1 second, which is significantly faster than existing methods. The accuracy of the calibration is ±4 mm. The method is modular in the sense that it directly supports integration and calibration of a new camera. The calibration have been implemented on Aalborg University's AIMM, Little Helper, and tested both in a laboratory and in a real-life industrial environment at the Danish pump manufacturer Grundfos A/S.

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Andersen RS, Damgaard JS, Madsen O, Moeslund TB. Fast Calibration of Industrial Mobile Robots to Workstations using QR Codes. In Proceedings of the 44th International Symposium on Robotics ISR 2013. IEEE Press. 2013. won the prize: Best paper at ISR 2013 https://doi.org/10.1109/ISR.2013.6695636