Estimating the Orientation of 3D-Structured Switches Using the RGB-D Camera Attached to a Disaster Response Robot

Takuya Kanda*, Li Qi, Jun Ohya, Atsuo Takanishi, Hiroyuki Ogata, Kenji Hshimoto

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


Towards the actualization of autonomous switch operation method for the disaster response robot, it is necessary to estimate the position and orientation of the switch in the site. This paper proposes a method for estimating switch orientation information based on the RGB-D sensor information attached to the disaster response robot. The flow of the proposed method in this paper consists of the following three stages. (1) Acquisition of RGB-D information of the switch area using the detection result of YOLOv3. (2) Position estimation of switch operation part by CNN from RGB-D information of switch area. (3) Estimation of switch orientation information using switch operation part position information and information on wall plane on which the switch exists. In the experiment, the proposed method was applied to three types of switch boxes, and the calculation results of the orientation information were evaluated. It was found from the experimental results that the calculation with sufficient accuracy is possible.2020. Int. J. Mech. Eng. Rob. Res

Original languageEnglish
Pages (from-to)1432-1438
Number of pages7
JournalInternational Journal of Mechanical Engineering and Robotics Research
Issue number10
Publication statusPublished - 2020 Oct


  • disaster response robot
  • image processing
  • intelligence robotics
  • object detection
  • point cloud data processing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence


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