DeepKP: A Robust and Accurate Framework for Weld Seam Keypoint Extraction in Welding Robots
文献类型：期刊论文
| 作者 | Zhao, Sihan1; Ma, Yunkai2 ; Fan, Junfeng2; Zhou, Zhen2; Wang, Hongliang3; Jing, Fengshui1,2; Tan, Min1
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| 刊名 | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
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| 出版日期 | 2024 |
| 卷号 | 73页码:10 |
| 关键词 | Linear laser vision sensor robot welding seam tracking weld seam denoising weld seam keypoint (WSKP) extraction |
| ISSN号 | 0018-9456 |
| DOI | 10.1109/TIM.2024.3381689 |
| 通讯作者 | Ma, Yunkai(yunkai.ma@ia.ac.cn) ; Jing, Fengshui(fengshui.jing@ia.ac.cn) |
| 英文摘要 | To meet the demand for seam tracking of welding robots, a deep learning-based framework called DeepKP is proposed in this article, which aims to precisely extract weld seam keypoints (WSKPs) under multiple arc light interference. DeepKP comprises a keypoint extraction model named WeldExt and a denoising model named WeldDenoise. WeldExt is proposed to identify weld seam types, obtain prior box region (PBR), and then extract keypoints in the region. WeldExt addresses the problem that most recent extraction models cannot directly obtain the keypoints. WeldDenoise is proposed for denoising weld seam images affected by multiple arc light interference, which overcomes the limitation that most recent denoising models must use paired datasets for training. Experiment results show that the average locating error of WSKP in WeldExt is 1.75 pixels and the average seam tracking error of DeepKp is 0.336 mm. Therefore, DeepKP performs excellently in extracting WSKPs under challenging arc light conditions and improves the quality of seam tracking. |
| WOS关键词 | TRACKING |
| 资助项目 | National Key Research and Development Program of China |
| WOS研究方向 | Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:001197885000017 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Key Research and Development Program of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58297]  |
| 专题 | 智能机器人系统研究 |
| 通讯作者 | Ma, Yunkai; Jing, Fengshui |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 3.Yaskawa Shougang Robot Co Ltd, Shanghai 201815, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhao, Sihan,Ma, Yunkai,Fan, Junfeng,et al. DeepKP: A Robust and Accurate Framework for Weld Seam Keypoint Extraction in Welding Robots[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2024,73:10. |
| APA | Zhao, Sihan.,Ma, Yunkai.,Fan, Junfeng.,Zhou, Zhen.,Wang, Hongliang.,...&Tan, Min.(2024).DeepKP: A Robust and Accurate Framework for Weld Seam Keypoint Extraction in Welding Robots.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,73,10. |
| MLA | Zhao, Sihan,et al."DeepKP: A Robust and Accurate Framework for Weld Seam Keypoint Extraction in Welding Robots".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73(2024):10. |
入库方式： OAI收割
来源：自动化研究所
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