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.
Elevator Riding of Mobile Robot Using Sensor Fusion
Lect. Notes Electrical Eng.
The 8th International Conference on Robotic, Vision, Signal Processing & Power Applications ; Kapitel : 11 ; 89-98
27.02.2014
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Control method for robot riding elevator, robot, server and system
Europäisches Patentamt | 2020
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