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Search Publications by Marek Franaszek

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Displaying 1 - 25 of 44

Improving 3D Vision-Robot Registration for Assembly Tasks

April 3, 2020
Marek Franaszek, Geraldine S. Cheok, Karl Van Wyk, Jeremy A. Marvel
Quality registration between the coordinate frames of a perception system and a robot is important for the efficient operation of autonomous systems in vision-guided assembly lines. Rigid-body registration, which is based on the measurement of

Reducing Localization Error of Vision-Guided Industrial Robots

June 18, 2019
Marek Franaszek, Geraldine S. Cheok, Jeremy A. Marvel
In many manufacturing applications, such as automated drilling or inspection of large parts, accurate knowledge of both position and orientation is critical. In this paper, a method for reducing robot end-effector position and orientation error is

Improving Rigid-Body Registration Based on Points Affected by Bias and Noise

December 31, 2018
Marek Franaszek, Geraldine S. Cheok
The task of registering two coordinate frames is frequently accomplished by measuring the same set of points in both frames. Noise and possible bias in the measured locations degrade the quality of registration. It was shown that the performance of

Orientation Uncertainty Characteristics of Some Pose Measuring Systems

December 31, 2017
Marek Franaszek, Geraldine S. Cheok
We investigate the performance of pose measuring systems which determine an object's pose from measurement of a few fiducial markers attached to the object. Such systems use point-based, rigid body registration to get the orientation matrix. Uncertainty in

Tolerances and Uncertainty in Robotic Systems

November 9, 2017
Frederick M. Proctor, John L. Michaloski, Marek Franaszek
The ability to be programmed for a wide range of tasks is what differentiates robots from dedicated automation. Consequently, robots can be faced with often-changing requirements and conditions. Conventional application development based on teach

Propagation of orientation uncertainty of 3D rigid object to its points

October 29, 2017
Marek Franaszek, Geraldine S. Cheok
If a CAD model of a rigid object is available, the location of any point on an object can be derived from the measured 6DOF pose of the object. However, the uncertainty of the measured pose propagates to the uncertainty of the point in an anisotropic way

Method to Improve Point-Based Registration by Restoring Rigid-Body Condition

June 26, 2017
Marek Franaszek, Geraldine S. Cheok
The purpose of rigid-body registration is to find a rotation and translation which transforms one coordinate frame to another. The procedure requires measurement of common points (fiducials) in both frames. Noise and possible bias in the acquired locations

Precision vs Accuracy Dilemma in Point-Based Rigid-Body Registration

March 23, 2017
Marek Franaszek, Geraldine S. Cheok
The purpose of a registration is to find the transformation between two coordinate frames: working frame (from which 3D data are transformed) and destination frame (to which the data are transformed). In point-based, rigid-body registration, the

Propagation of Error from Registration Parameters to Transformed Data

June 6, 2016
Mili Shah, Marek Franaszek, Geraldine S. Cheok
Methods to register two sets of data have existed for quite some time. However, these sets of data are rarely error-free. Consequently, any parameters obtained from a registration method will be affected by the error in the sets of data. Moreover, if these

Guidelines for the Registration of Two Coordinate Frames

March 2, 2016
Geraldine S. Cheok, Marek Franaszek
The purpose of registration is to obtain the transformation matrix between two coordinate frames. Typically, sensors record positional measurements in their own local coordinate frame. When positional data are acquired by two instruments or two datasets

Optimization of Registration Performance Metrics

February 25, 2016
Marek Franaszek, Geraldine S. Cheok
Perception systems are a very important component of automation and robotics. These systems localize objects in its local coordinate frame and the data has to be available for use in another coordinate frame. This requires that the data be transformed from

Real-Time Monitoring: Augmenting Building Information Modeling with 3D Imaging Data to Control Drilling for Embeds into Reinforced Concrete Bridge Decks

September 16, 2013
Manu Akula, Robert R. Lipman, Marek Franaszek, Geraldine S. Cheok, Kamel S. Saidi, Vineet Kamat
A major contributing factor attributed to accidents in construction is the lack of hazard recognition due to limited visibility that characterizes construction projects. Real-time monitoring systems that utilize context aware computing techniques

Variances of Cylinder Parameters Fitted to Range Data

September 26, 2012
Marek Franaszek
Industrial pipelines are frequently scanned with 3D imaging systems (e.g., LADAR) and cylinders are fitted to the collected data. Then, the fitted as-built model is compared with the as-designed model. Meaningful comparison between the two models requires

Image-based 3D Mapping of Rebar Location for Automated Assessment of Safe Drilling Areas Prior to Placing Embedments in Concrete Bridge Decks

May 23, 2012
Mani Golparvar-Fard, Behshad Ghadimi, Kamel S. Saidi, Geraldine S. Cheok, Marek Franaszek, Robert R. Lipman
This paper presents a new image-based approach for 3D mapping the locations of the rebar and embedded components in a railway bridge deck prior to placement of concrete. Our approach enables practitioners to quickly and automatically identify where the