Geometric Feedback System for Robotic Spraying
OPEN ACCESS
Loading...
Author / Producer
Date
2022-12
Publication Type
Journal Article
ETH Bibliography
yes
Citations
Altmetric
OPEN ACCESS
Data
Rights / License
Abstract
In this paper, we tackle the task of replacing labor intensive and repetitive manual inspection of sprayed concrete elements with a sensor-based and automated alternative. We present a geometric feedback system that is integrated within a robotic setup and includes a set of depth cameras used for acquiring data on sprayed concrete structures, during and after fabrication. The acquired data are analyzed in terms of thickness and surface quality, with both sets of information then used within the adaptive fabrication process. The thickness evaluation is based on the comparison of the as-built state to a previous as-built state or to the design model. The surface quality evaluation is based on the local analysis of 3D geometric and intensity features. These features are used by a random forest classifier trained using data manually labelled by a skilled professional. With this approach, we are able to achieve a prediction accuracy of 87 % or better when distinguishing different surface quality types on flat specimens, and 75 % when applied in a full production setting with wet and non-planar surfaces. The presented approach is a contribution towards in-line material thickness and surface quality inspection within digital fabrication.
Permanent link
Publication status
published
External links
Editor
Book title
Volume
90 (6)
Pages / Article No.
531 - 542
Publisher
Springer
Event
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Feedback system; Geometric quality assessment; Depth camera; Digital fabrication; Robotic spraying
Organisational unit
03964 - Wieser, Andreas / Wieser, Andreas
03708 - Gramazio, Fabio / Gramazio, Fabio
03709 - Kohler, Matthias / Kohler, Matthias
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication