JAUE2022-132: Towards On-site Robotic Construction: A Review of Research on Mobile Robot Localization and Target Grasping

Abstract

The real-time localization of the robot is the key technology of the mobile robot before the relevant operation. This paper mainly discusses the two major contents of mobile robot localization and visual grasping, by using five keywords of on-site robotic construction, mobile robot localization, target recognition, image preprocessing and visual grasping to retrieve literature in recent years, then summarize and analyze. Firstly, the localization technology of mobile robots is analyzed, including indoor localization, outdoor localization, outdoor and indoor localization. Secondly, the technologies required to achieve visual grasping are analyzed, which are divided into: (1) camera calibration, hand-eye calibration and image preprocessing related technologies of localization grasping; (2) research on visual grasping technology of target recognition, target pose estimation and grasping estimation. Based on the review and analysis, the prospect of mobile robot localization and visual grasping is made, and the two technologies are combined to realize real-time and continuous visual grasping. Therefore, aiming at the problem of discontinuous workflow in the 3D printing of large-scale components by robotic arm, the relevant localization and target grasping technology of this research can be applied to the on-site continuous construction, indicating the potential of this technology combination in the future.