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Intelligent Service Robotics
Erschienen in: Intelligent Service Robotics 3/2020

08.06.2020 | Original Research Paper

Robot perception of static and dynamic objects with an autonomous floor scrubber

verfasst von: Zhi Yan, Simon Schreiberhuber, Georg Halmetschlager, Tom Duckett, Markus Vincze, Nicola Bellotto

Erschienen in: Intelligent Service Robotics | Ausgabe 3/2020

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Abstract

This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidars, two RGB-D cameras and a stereo camera. The two lidars together with an RGB-D camera are used for dynamic object (human) detection and tracking, while the second RGB-D and stereo camera are used for detection of static objects (dirt and ground objects). A learning and reasoning module for spatial–temporal representation of the environment based on the perception pipeline is also introduced. Furthermore, a new dataset collected with the robot in several public places, including a supermarket, a warehouse and an airport, is released. Baseline results on this dataset for further research and comparison are provided. The proposed system has been fully implemented into the Robot Operating System (ROS) with high modularity, also publicly available to the community.
Vorheriger Artikel Stability of a robust interaction control for single-degree-of-freedom robots with unstructured environments
Nächster Artikel Passivity-based control of nonlinear teleoperation systems with non-passive interaction forces

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Fußnoten
6
Please note that FLOBOT was not allowed to record any RGB data that can identify human identity information in the public places according to the EU General Data Protection Regulation (GDPR). Therefore, only depth information is allowed to be collected for the forward-facing Xtion PRO LIVE RGB-D camera.
 
8
Based on our plane estimation.
 
11
File name: LCAS_20160523_1239_1256_labels.zip.
 
12
The labels are available on the dataset website, annotated by using our open source annotation tool https://​github.​com/​yzrobot/​cloud_​annotation_​tool/​tree/​devel.
 
13
File name: lyon_annotated.zip.
 
14
File name: carugate_annotated.zip.
 
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Metadaten
Titel
Robot perception of static and dynamic objects with an autonomous floor scrubber
verfasst von
Zhi Yan
Simon Schreiberhuber
Georg Halmetschlager
Tom Duckett
Markus Vincze
Nicola Bellotto
Publikationsdatum
08.06.2020
Verlag
Springer Berlin Heidelberg
Erschienen in
Intelligent Service Robotics / Ausgabe 3/2020
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-020-00324-9

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