機能的ウェイポイントを利用した自動ドアの通過

抄録

The paper presents a functional waypoint management system for navigation with required actions. The system applies to autonomous door passage. The system assigns functional waypoints for door recognition tasks using an RGB-D camera for passing through automatic sliding door. In the experiments, a mobile robot KUAMS achieved over 80% success, recognizing and passing automatic sliding door even with minor localization errors in both indoor-to-outdoor and outdoor-to-indoor scenarios.