The Method of Object Localization in Electric Distribution Systems by Using 3D Mesh Models and M-estimation.

摘要

Kyushu Electric Power Company has developed dual-armed mobile-robots for maintaining works in electric distribution systems. Though successful in reducing operator's demanding jobs, it still requires some human assistance. For automating some capabilities of this robot, we have developed a 3D object-localization method for robot's positional adjustment. The method is designed to be insensitive to noise and outliers. At the same time, run-time efficiency has also been considered. This paper reports this algorithm as well as its performance evaluation.