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http://dx.doi.org/10.7746/jkros.2020.15.1.070

Elevator Recognition and Position Estimation based on RGB-D Sensor for Safe Elevator Boarding  

Jang, Min-Gyung (Mechanical Engineering, Korea University)
Jo, Hyun-Jun (Mechanical Engineering, Korea University)
Song, Jae-Bok (Mechanical Engineering, Korea University)
Publication Information
The Journal of Korea Robotics Society / v.15, no.1, 2020 , pp. 70-76 More about this Journal
Abstract
Multi-floor navigation of a mobile robot requires a technology that allows the robot to safely get on and off the elevator. Therefore, in this study, we propose a method of recognizing the elevator from the current position of the robot and estimating the location of the elevator locally so that the robot can safely get on the elevator regardless of the accumulated position error during autonomous navigation. The proposed method uses a deep learning-based image classifier to identify the elevator from the image information obtained from the RGB-D sensor and extract the boundary points between the elevator and the surrounding wall from the point cloud. This enables the robot to estimate the reliable position in real time and boarding direction for general elevators. Various experiments exhibit the effectiveness and accuracy of the proposed method.
Keywords
Elevator Recognition; Elevator Position Estimation; Multi-Floor Navigation; RGB-D Sensor;
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