TY  - JOUR
AU  - Cristhian A. Aguilera-Carrasco
AU  - Luis Felipe Gonzalez-Böhme
AU  - Francisco Valdes
AU  - Francisco Javier Quitral Zapata
AU  - Bogdan Raducanu
PY  - 2023//
TI  - A Hand-Drawn Language for Human–Robot Collaboration in Wood Stereotomy
T2  - ACCESS
JO  - IEEE Access
SP  - 100975
EP  - 100985
VL  - 11
N2  - This study introduces a novel, hand-drawn language designed to foster human-robot collaboration in wood stereotomy, central to carpentry and joinery professions. Based on skilled carpenters’ line and symbol etchings on timber, this language signifies the location, geometry of woodworking joints, and timber placement within a framework. A proof-of-concept prototype has been developed, integrating object detectors, keypoint regression, and traditional computer vision techniques to interpret this language and enable an extensive repertoire of actions. Empirical data attests to the language’s efficacy, with the successful identification of a specific set of symbols on various wood species’ sawn surfaces, achieving a mean average precision (mAP) exceeding 90%. Concurrently, the system can accurately pinpoint critical positions that facilitate robotic comprehension of carpenter-indicated woodworking joint geometry. The positioning error, approximately 3 pixels, meets industry standards.
UR  - http://dx.doi.org/10.1109/ACCESS.2023.3314337
N1  - LAMP
ID  - Cristhian A. Aguilera-Carrasco2023
ER  -