A solution to room-by-room coverage for autonomous cleaning robots
| Autor: | Andreas Kolling, Alexander Kleiner, Mario E. Munich, Rodrigo Baravalle, Pablo Pilotti |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Occupancy grid mapping
Computer science business.industry 010401 analytical chemistry 02 engineering and technology Decision rule Grid 01 natural sciences 0104 chemical sciences 0202 electrical engineering electronic engineering information engineering Robot Clutter 020201 artificial intelligence & image processing Segmentation Computer vision Artificial intelligence State (computer science) business |
| Zdroj: | IROS |
| DOI: | 10.1109/iros.2017.8206429 |
| Popis: | We introduce RoomsSeg, a novel method for segmenting occupancy grid maps into regions that represent rooms and corridors in the real world. The segmentation is utilized for systematic room-by-room cleaning on autonomous vacuum cleaners running in private homes. RoomsSeg is based on automated clutter removal and watershed segmentation on grid maps. Segmented regions are merged into rooms by semantic decision rules. Presented experimental results clearly indicate the efficiency and accuracy of the approach when compared with state of the art methods. When deployed on cleaning robots, a substantial decrease in mission time can be achieved. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|