Fast transformations to provide simple geometric models of moving objects

David Adrian Sanders; Giles Eric Tewkesbury; Alexander Emilov Gegov

doi:10.1007/978-3-319-22879-2_55

Fast transformations to provide simple geometric models of moving objects

David Adrian Sanders, Giles Eric Tewkesbury, Alexander Emilov Gegov

School of Computing

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Abstract

Models are compared for use with a sensor system working in real
time (in this case a simple image processing system). A static robot work-cell is
modelled as several solid polyhedra. This model is updated as new objects enter
or leave the work-place. Similar 2-D slices in joint space, and spheres and simple polhedra are used to model these objects. The three models are compared for their ability to be updated with new information and for the efficiency of the whole system in accessing data concerning new objects. The system supplies data to a "Path Planner" containing a geometric model of the static environment and a robot. The robot structure is modelled as connected cylinders and spheres and the range of motion is quantised.

Original language	English
Title of host publication	Intelligent robotics and applications
Subtitle of host publication	8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, proceedings, part I
Editors	Honghai Liu, Naoyuki Kubota, Xiangyang Zhu, Rüdiger Dillmann, Dalin Zhou
Place of Publication	Switzerland
Publisher	Springer
Pages	604-617
ISBN (Electronic)	9783319228792
ISBN (Print)	9783319228785
DOIs	https://doi.org/10.1007/978-3-319-22879-2_55
Publication status	Published - 2015

Publication series

Name	Lecture notes in computer science
Publisher	Springer
Volume	9244
ISSN (Print)	0302-9743

Keywords

Manufacturing · Navigation obstacles · Robot · Model

Access to Document

10.1007/978-3-319-22879-2_55

Final_Paper_in_Lecture_Notes_on_Computer_Science_347035_1_En_55_Sanders
“he final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-22879-2_55
Licence: Unspecified

Presented two papers titled "Fast transformations to provide simple geometric models of moving objects" and "Improving steering of a powered wheelchair using an expert system to interpret hand tremor" at the 8th International Conference on Intelligent Robotics and Applications on 25/08/15 at Portsmouth, United Kingdom.
Sanders, D. (Speaker), Tewkesbury, G. (Speaker), Gegov, A. (Speaker) & Bausch, N. (Speaker)
25 Aug 2015
Activity: Talk or presentation types › Oral presentation

Cite this

Sanders, D. A., Tewkesbury, G. E., & Gegov, A. E. (2015). Fast transformations to provide simple geometric models of moving objects. In H. Liu, N. Kubota, X. Zhu, R. Dillmann, & D. Zhou (Eds.), Intelligent robotics and applications: 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, proceedings, part I (pp. 604-617). (Lecture notes in computer science; Vol. 9244). Springer. https://doi.org/10.1007/978-3-319-22879-2_55

Sanders, David Adrian ; Tewkesbury, Giles Eric ; Gegov, Alexander Emilov. / Fast transformations to provide simple geometric models of moving objects. Intelligent robotics and applications: 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, proceedings, part I. editor / Honghai Liu ; Naoyuki Kubota ; Xiangyang Zhu ; Rüdiger Dillmann ; Dalin Zhou . Switzerland : Springer, 2015. pp. 604-617 (Lecture notes in computer science).

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title = "Fast transformations to provide simple geometric models of moving objects",

abstract = "Models are compared for use with a sensor system working in realtime (in this case a simple image processing system). A static robot work-cell ismodelled as several solid polyhedra. This model is updated as new objects enteror leave the work-place. Similar 2-D slices in joint space, and spheres and simple polhedra are used to model these objects. The three models are compared for their ability to be updated with new information and for the efficiency of the whole system in accessing data concerning new objects. The system supplies data to a {"}Path Planner{"} containing a geometric model of the static environment and a robot. The robot structure is modelled as connected cylinders and spheres and the range of motion is quantised. ",

keywords = "Manufacturing · Navigation obstacles · Robot · Model",

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booktitle = "Intelligent robotics and applications",

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Sanders, DA , Tewkesbury, GE & Gegov, AE 2015, Fast transformations to provide simple geometric models of moving objects. in H Liu, N Kubota, X Zhu, R Dillmann & D Zhou (eds), Intelligent robotics and applications: 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, proceedings, part I. Lecture notes in computer science, vol. 9244, Springer, Switzerland, pp. 604-617. https://doi.org/10.1007/978-3-319-22879-2_55

Fast transformations to provide simple geometric models of moving objects. / Sanders, David Adrian ; Tewkesbury, Giles Eric ; Gegov, Alexander Emilov.
Intelligent robotics and applications: 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, proceedings, part I. ed. / Honghai Liu; Naoyuki Kubota; Xiangyang Zhu; Rüdiger Dillmann; Dalin Zhou . Switzerland: Springer, 2015. p. 604-617 (Lecture notes in computer science; Vol. 9244).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Tewkesbury, Giles Eric

AU - Gegov, Alexander Emilov

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N2 - Models are compared for use with a sensor system working in realtime (in this case a simple image processing system). A static robot work-cell ismodelled as several solid polyhedra. This model is updated as new objects enteror leave the work-place. Similar 2-D slices in joint space, and spheres and simple polhedra are used to model these objects. The three models are compared for their ability to be updated with new information and for the efficiency of the whole system in accessing data concerning new objects. The system supplies data to a "Path Planner" containing a geometric model of the static environment and a robot. The robot structure is modelled as connected cylinders and spheres and the range of motion is quantised.

AB - Models are compared for use with a sensor system working in realtime (in this case a simple image processing system). A static robot work-cell ismodelled as several solid polyhedra. This model is updated as new objects enteror leave the work-place. Similar 2-D slices in joint space, and spheres and simple polhedra are used to model these objects. The three models are compared for their ability to be updated with new information and for the efficiency of the whole system in accessing data concerning new objects. The system supplies data to a "Path Planner" containing a geometric model of the static environment and a robot. The robot structure is modelled as connected cylinders and spheres and the range of motion is quantised.

KW - Manufacturing · Navigation obstacles · Robot · Model

U2 - 10.1007/978-3-319-22879-2_55

DO - 10.1007/978-3-319-22879-2_55

M3 - Conference contribution

SN - 9783319228785

T3 - Lecture notes in computer science

SP - 604

EP - 617

BT - Intelligent robotics and applications

A2 - Liu, Honghai

A2 - Kubota, Naoyuki

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PB - Springer

CY - Switzerland

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Sanders DA , Tewkesbury GE , Gegov AE. Fast transformations to provide simple geometric models of moving objects. In Liu H, Kubota N, Zhu X, Dillmann R, Zhou D, editors, Intelligent robotics and applications: 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, proceedings, part I. Switzerland: Springer. 2015. p. 604-617. (Lecture notes in computer science). Epub 2015 Aug 24. doi: 10.1007/978-3-319-22879-2_55

Fast transformations to provide simple geometric models of moving objects

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