RGB-Dセンサの計測範囲を最大限利用した微小物体回避

抄録

Object detection is one of the basic functions of a robot. However, it's difficult to detect a small object. The study , using a RGB-D sensor to detect a small object of about 10 mm in height on the floor and avoid using a robot. As a specific method, the environment shape is acquired as point cloud data. Specifically, I use a floor plane estimated using RANSAC and two-dimensional grid map generation. I use a mobile cart robot for avoid objects. Correct the data measured from the sensor and detect small objects by maximizing the measurement range of the sensor. As a result I confirmed the avoidance of the 10 mm height power cord on the floor.