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BIM-assisted object recognition for the on-site autonomous robotic assembly of discrete structures

Dawod, M; Hanna, S; (2019) BIM-assisted object recognition for the on-site autonomous robotic assembly of discrete structures. Construction Robotics 10.1007/s41693-019-00021-9. (In press). Green open access

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Abstract

Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for construction applications, due to the tedious setups incorporated for referencing an object to a system and inability to cope with the elements imperfections. In this paper, we propose a fexible object pose estimation framework to enable robots to autonomously handle building components on-site with an error tolerance to build a specifc design target without the need to sort or label them. We implemented an object recognition approach that uses the virtual representation model of all the objects found in a BIM model to autonomously search for the best-matched objects in a scene. The design layout is used to guide the robot to grasp and manipulate the found elements to build the desired structure. We verify our proposed framework by testing it in an automatic discrete wall assembly workfow. Although the precision is not as expected, we analyse the possible reasons that might cause this imprecision, which paves the path for future improvements.

Type: Article
Title: BIM-assisted object recognition for the on-site autonomous robotic assembly of discrete structures
Open access status: An open access version is available from UCL Discovery
DOI: 10.1007/s41693-019-00021-9
Publisher version: https://doi.org/10.1007/s41693-019-00021-9
Language: English
Additional information: This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Keywords: In-situ robotic construction · 3D object recognition · Pose estimation · Building Information Modelling (BIM) · Autonomous Assembly · Discrete Fabrication
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of the Built Environment
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of the Built Environment > The Bartlett School of Architecture
URI: https://discovery.ucl.ac.uk/id/eprint/10080657
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