Elevator Riding of Mobile Robot Using Sensor Fusion
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Elevator riding is an essential skill for a mobile service robot to carry out various tasks. This paper proposes a framework for robot navigation based on sensor fusion of a laser range finder (LRF) and a vision camera to detect an elevator door and recognize its state. The state of the door is determined by calibrating and combining LRF-camera data. The indicator including the current floor number of the elevator and a direction arrow is recognized by a neural network classifier. The robot moves inside the elevator after verifying the state of the door being opened and the moving direction of the elevator. The robot confirms the target floor by an artificial landmark and localizes itself by the marker detection. The proposed method is implemented on a robot platform, and elevator riding is achieved as the experiment results.
KeywordsElevator riding Sensor fusion Artificial landmark Localization NN
This work was partially supported by “Development of mobile assisted robot and emotional interaction robot for the elderly (10038574)” under the Industrial Source Technology Development Programs of the Ministry of Knowledge Economy (MKE) of Korea and partially supported by the MOTIE (Ministry of Trade, Industry & Energy), Korea, under the Robotics-Specialized Education Consortium for Graduates support program supervised by the NIPA (National IT Industry Promotion Agency) (H1502-13-1001).
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