http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Viewpoint Invariant ROI Localization for Gas Leakage Monitoring Using Quadrupedal Patrol Robot SAFER
S. Park(박상율),O. Sim(심옥기),J. Kim(김주형),K. Lee(이공우) Korean Society for Precision Engineering 2021 한국정밀공학회 학술발표대회 논문집 Vol.2021 No.11월
We present a novel framework for gas leakage monitoring throughout the semiconductor fabrication facilities using an ultrasonic camera attached on an autonomous mobile robot. We exploit a quadrupedal patrol robot SAFER (Samsung Autonomous Facility Exploring Robot) as a robotic platform, so that the platform can be deployed on various terrains. In this work, we particularly propose a viewpoint invariant ROI (Region of Interest) localization framework which can robustly localize potential leakage points even if the robot acquires data with imprecise and inconsistent pose. By doing so, we can monitor for gas leakage at each ROI in a consistent manner, so that the trend of ultrasonic sound at each ROI can be trackable. Using the robot pose information and pre-measured 3D information of each target equipment, we could increase the performance and robustness of the proposed algorithm. Lastly, to verify feasibility and performance of our framework, we conducted experiments at real semiconductor fabrication site using a quadruped mobile robot.