Augmented reality-based tele-robotic system architecture for on-site construction

Dhinesh K. Sukumar, Seongki Lee, Christos Georgoulas, Thomas Bock

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

The planning of construction process is crucial for successful project management and based on which all other sub-tasks and activities follow. Labourintensive construction process which relies on field workers' own intuition and interpretation, has been too complicated to control, which can lead to mistakes, wasted time, and fatal accidents in worst but commonly happening cases. In this sense, applying innovative techniques to on-site construction process for construction planning, scheduling, operation, and monitoring has the potential to assist stakeholders in making better decisions. A head-mounted display (HMD) such as Oculus Rift can visualize construction processes information anytime whether during on-site work or beforehand by providing realistic augmented superimposed environment which is captured via the proposed 2-DOF stereo head. Moreover, by calculating the physical movement (translation, rotation) of building components, which can be accomplished by reading physical, material property data from Building Information Modeling (BIM), and combining it with computational kinematics model of on-site robotic equipment, the field workers can have the digital information for off-site component assembly in real-time manner. This research develops a new methodology for integration of tele-operation with 4D modelling in order to improve building component positioning and erection in terms of efficiency and quality by operating onsite robotic system intelligently. Based on the proposed methodology, an intelligent remotely operated, considering the control and video streaming processes, virtual tele-presence system is prototyped. The proposed system is designed for tele-operated construction robots and comprises a 2-DOF stereo head, a pair of high spatial resolution cameras, and a head mounted display with integrated head tracking mechanism. To validate the proposed methodology, controlled laboratory experiments were designed and implemented.

Original languageEnglish
Title of host publication32nd International Symposium on Automation and Robotics in Construction and Mining
Subtitle of host publicationConnected to the Future, Proceedings
PublisherInternational Association for Automation and Robotics in Construction I.A.A.R.C)
ISBN (Electronic)9789517585972
DOIs
StatePublished - 2015
Externally publishedYes
Event32nd International Symposium on Automation and Robotics in Construction and Mining: Connected to the Future, ISARC 2015 - Oulu, Finland
Duration: 15 Jun 201518 Jun 2015

Publication series

Name32nd International Symposium on Automation and Robotics in Construction and Mining: Connected to the Future, Proceedings

Conference

Conference32nd International Symposium on Automation and Robotics in Construction and Mining: Connected to the Future, ISARC 2015
Country/TerritoryFinland
CityOulu
Period15/06/1518/06/15

Keywords

  • Augmented reality
  • Building information modeling
  • Human-machine interaction
  • Stereo vision
  • Tele-operation

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