Painting Path Planning for a Painting Robot with a RealSense Depth Sensor

Vladimir Tadic; Akos Odry; Ervin Burkus; Istvan Kecskes; Zoltan Kiraly; Mihaly Klincsik; Zoltan Sari; Zoltan Vizvari; Attila Toth; Peter Odry

doi:10.3390/app11041467

Applied Sciences (Feb 2021)

Painting Path Planning for a Painting Robot with a RealSense Depth Sensor

Vladimir Tadic,
Akos Odry,
Ervin Burkus,
Istvan Kecskes,
Zoltan Kiraly,
Mihaly Klincsik,
Zoltan Sari,
Zoltan Vizvari,
Attila Toth,
Peter Odry

Affiliations

Vladimir Tadic: Institute of Information Technology, University of Dunaujvaros, Tancsics Mihaly u. 1/A Pf.: 152, 2401 Dunaujvaros, Hungary
Akos Odry: Institute of Information Technology, University of Dunaujvaros, Tancsics Mihaly u. 1/A Pf.: 152, 2401 Dunaujvaros, Hungary
Ervin Burkus: Institute of Information Technology, University of Dunaujvaros, Tancsics Mihaly u. 1/A Pf.: 152, 2401 Dunaujvaros, Hungary
Istvan Kecskes: Institute of Information Technology, University of Dunaujvaros, Tancsics Mihaly u. 1/A Pf.: 152, 2401 Dunaujvaros, Hungary
Zoltan Kiraly: Institute of Information Technology, University of Dunaujvaros, Tancsics Mihaly u. 1/A Pf.: 152, 2401 Dunaujvaros, Hungary
Mihaly Klincsik: Department of Technical Informatics, Faculty of Engineering and Information Technology, University of Pecs, Boszorkany str. 2, H-7624 Pecs, Hungary
Zoltan Sari: Department of Technical Informatics, Faculty of Engineering and Information Technology, University of Pecs, Boszorkany str. 2, H-7624 Pecs, Hungary
Zoltan Vizvari: Department of Environmental Engineering, Faculty of Engineering and Information, Technology, University of Pecs, Boszorkany str. 2, H-7624 Pecs, Hungary
Attila Toth: Institute of Physiology, Medical School, University of Pecs, Szigeti str 12, H-7624 Pecs, Hungary
Peter Odry: Institute of Information Technology, University of Dunaujvaros, Tancsics Mihaly u. 1/A Pf.: 152, 2401 Dunaujvaros, Hungary

DOI: https://doi.org/10.3390/app11041467
Journal volume & issue: Vol. 11, no. 4
p. 1467

Abstract

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The utilization of stereo cameras in robotic applications is presented in this paper. The use of a stereo depth sensor is a principal step in robotics applications, since it is the first step in sequences of robotic actions where the intent is to detect and extract windows and obstacles that are not meant to be painted from the surrounding wall. A RealSense D435 stereo camera was used for surface recording via a real-time, appearance-based (RTAB) mapping procedure, as well as to navigate the painting robot. Later, wall detection and the obstacle avoidance processes were performed using statistical filtering and a random sample consensus model (RANSAC) algorithm.

Published in Applied Sciences

ISSN: 2076-3417 (Online)
Publisher: MDPI AG
Country of publisher: Switzerland
LCC subjects: Technology: Engineering (General). Civil engineering (General); Science: Biology (General); Science: Physics; Science: Chemistry
Website: http://www.mdpi.com/journal/applsci

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