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
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.
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