Exact cellular decomposition of closed orientable surfaces embedded in /spl Rfr//sup 3

We address the task of covering a closed orientable surface embedded in /spl Rfr//sup 3/ without any prior information about the surface. For applications such as paint deposition, the effector (the paint atomizer) does not explicitly cover the target surface, but instead covers an offset surface-a...

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Published inProceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164) Vol. 1; pp. 699 - 704 vol.1
Main Authors Atkar, P.N., Choset, H., Rizzi, A.A., Acar, E.U.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2001
Subjects
Cameras
Cleaning
Computer numerical control
Face detection
Inspection
Mechanical engineering
Orbital robotics
Paints
Path planning
Robot vision systems
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Summary:We address the task of covering a closed orientable surface embedded in /spl Rfr//sup 3/ without any prior information about the surface. For applications such as paint deposition, the effector (the paint atomizer) does not explicitly cover the target surface, but instead covers an offset surface-a surface that is a fixed distance away from the target surface. Just as Canny and others use critical points to look for changes in connectivity of the free space to ensure completeness of their roadmap algorithms, we use critical points to identify changes in the connectivity of the offset surface to ensure full surface coverage. The main contribution of this work is a method to construct unknown offset surfaces using a procedure, also developed in this paper, to detect critical points.
ISBN:9780780365766
0780365763
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2001.932632