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Identifying and approaching for obscured stairs.
- Source :
-
Robotics & Autonomous Systems . Jan2024, Vol. 171, pN.PAG-N.PAG. 1p. - Publication Year :
- 2024
-
Abstract
- We present an autonomous approaching scheme for mobile robot traversing obstacle stairwells, which overcomes the restricted field of vision caused by obstacles. The scheme consists of three parts: stair localization, structural parameter estimation, and nearing the stair. We use LIDAR with full-angle and long-distance measurement capabilities to initially determine the location of the stairs, and estimate staircase parameters using a depth camera with intensive data. Then, we propose an algorithm to optimize the location of stairs for real-time correction of target point locations during approaching. Finally, we conducted tests to verify the accuracy of the estimated stair positions and structural parameters and performed a comprehensive experiment to demonstrate the effectiveness of the scheme, in which the robot approaches autonomously to the front of the stairs around multiple obstacles. • We develop the double scales normal and selection (DSNS) algorithm to identify stair from sparse point clouds. • We develop the multi-plane joint recognition (MPJR) algorithm to estimate the structural parameter. • We propose the sliding window multi-round voting mechanism (SWMRVM) algorithm to optimize the stair position from recognition. [ABSTRACT FROM AUTHOR]
- Subjects :
- *MOBILE robots
*STAIRS
*STAIRCASES
*VISUAL fields
*PARAMETER estimation
*POINT cloud
Subjects
Details
- Language :
- English
- ISSN :
- 09218890
- Volume :
- 171
- Database :
- Academic Search Index
- Journal :
- Robotics & Autonomous Systems
- Publication Type :
- Academic Journal
- Accession number :
- 173974748
- Full Text :
- https://doi.org/10.1016/j.robot.2023.104535