The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Elevator Recognition and Position Estimation based on RGB-D Sensor for Safe Elevator Boarding

이동로봇의 안전한 엘리베이터 탑승을 위한 RGB-D 센서 기반의 엘리베이터 인식 및 위치추정

  • Received : 2019.09.20
  • Accepted : 2020.01.03
  • Published : 2020.02.28
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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.

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References

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