Abstract
This paper proposed a method that can determine whether a target object can be cleaned-up by Clean-up Robot. The target object can be detected from the 3D Point Cloud Map which is generated by utilizing Simultaneous Localization and Mapping (SLAM). This method uses SLAM to generate two sets of 3D Point Cloud Map, the first 3D Point Cloud Map is a scenario of an indoor environment, the second one is the same scenario adding target object that need to be cleaned-up. The detection algorithm of target object used the differential point-cloud data of these 2 maps. Then, 3 kinds of filters (1. Statistical filter 2. Coordinate filter 3.Radius filter) were used to remove the noise. After the target object was detected, Clean-up Robot is used to push the object. By estimating the distance of movement of the target object with 3 ways (a. Robot’s Odometry sensor, b. Visual Odometry, c. Differential data of 2 maps), we can finally determine whether the object can be cleaned-up. Experimental results carried out with actual images show that the method of this paper can be applied on Clean-up Robot in the future.
