JRM Vol.33 No.6 pp. 1373-1383
doi: 10.20965/jrm.2021.p1373

Development Report:

Image Mosaicking and Localization Using a Camera Mounted on a Hanging-Type Wall Climbing Robot

Shigenori Sano*, Daisuke Takaki*, Atsunori Ishida**, and Teruhiro Ishida**

*Toyohashi University of Technology
1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan

**Sanshin Construction Materials Co., Ltd.
35-1 Ninowari, Jinno-shinden, Toyohashi, Aichi 441-8077, Japan

June 10, 2021
September 21, 2021
December 20, 2021
wall inspection, image mosaicking, template matching, localization

Owing to the revision of Japanese building law in 2008, the demand for wall inspections has been increasing. Currently, wall inspections are performed by workers using hammering devices; this involves dangerous work at high elevations. Therefore, we developed an inspection system using NOBORIN®, a hanging-type wall climbing robot. In this paper, we introduce the robot and its hammering inspection system, and propose a method for image mosaicking and localization using images captured from an equipped camera. The estimated values are used to correct the elevation motion(s) of the robot.

Hanging-type wall climbing robot NOBORIN

Hanging-type wall climbing robot NOBORIN

Cite this article as:
S. Sano, D. Takaki, A. Ishida, and T. Ishida, “Image Mosaicking and Localization Using a Camera Mounted on a Hanging-Type Wall Climbing Robot,” J. Robot. Mechatron., Vol.33 No.6, pp. 1373-1383, 2021.
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Last updated on Sep. 21, 2023