Estimating Clean-up Robots' Mechanical Operations of Objects Using a SLAM Based Method

抄録

To enable clean-up robots to vacuum cluttered floors, the robots should be able to return objects on the floors to the proper positions by pushing the objects. This paper proposes a computer vision based method that can detect the objects (clutter) and evaluate the result of the mechanical operation (pushing the objects). First, we construct a dense 3D map of a tidy situation of the room (after-clean-map). Next, we construct another dense 3D map of the cluttered situation of the same room (before-clean-map). Then, we construct the 3D point cloud of the cluttered situation by comparing the after-clean-map and the before-clean-map. Finally, we let a clean-up robot push the cluttered object and evaluate whether the object is successfully moved. Experimental results using real RGBD image sequences demonstrate promising results of our proposed method.