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

研究成果: Article査読

抄録

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

本文言語English
ページ(範囲)1432-1438
ページ数7
ジャーナルInternational Journal of Mechanical Engineering and Robotics Research
9
10
DOI
出版ステータスPublished - 2020 10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 機械工学
  • 人工知能

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