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Sensors 2015, 15(6), 13725-13751; doi:10.3390/s150613725

A Cross Structured Light Sensor and Stripe Segmentation Method for Visual Tracking of a Wall Climbing Robot

College of Computer Science and Technology, Harbin Engineering University, Harbin 150001, China
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Author to whom correspondence should be addressed.
Academic Editor: Lianqing Liu
Received: 24 April 2015 / Revised: 27 May 2015 / Accepted: 5 June 2015 / Published: 11 June 2015
(This article belongs to the Special Issue Sensors for Robots)

Abstract

In non-destructive testing (NDT) of metal welds, weld line tracking is usually performed outdoors, where the structured light sources are always disturbed by various noises, such as sunlight, shadows, and reflections from the weld line surface. In this paper, we design a cross structured light (CSL) to detect the weld line and propose a robust laser stripe segmentation algorithm to overcome the noises in structured light images. An adaptive monochromatic space is applied to preprocess the image with ambient noises. In the monochromatic image, the laser stripe obtained is recovered as a multichannel signal by minimum entropy deconvolution. Lastly, the stripe centre points are extracted from the image. In experiments, the CSL sensor and the proposed algorithm are applied to guide a wall climbing robot inspecting the weld line of a wind power tower. The experimental results show that the CSL sensor can capture the 3D information of the welds with high accuracy, and the proposed algorithm contributes to the weld line inspection and the robot navigation. View Full-Text
Keywords: structured light sensor; laser stripe segmentation; weld line tracking; wall climbing robot structured light sensor; laser stripe segmentation; weld line tracking; wall climbing robot
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Zhang, L.; Sun, J.; Yin, G.; Zhao, J.; Han, Q. A Cross Structured Light Sensor and Stripe Segmentation Method for Visual Tracking of a Wall Climbing Robot. Sensors 2015, 15, 13725-13751.

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