论文标题
快速楼梯检测和使用3D点云与多种检测合并进行异质机器人的估算
Fast Staircase Detection and Estimation using 3D Point Clouds with Multi-detection Merging for Heterogeneous Robots
论文作者
论文摘要
机器人系统需要先进的移动能力才能在旨在人类使用的复杂的三维环境中运行，例如多层建筑。合并一定级别的自主权使机器人能够在此类复杂的环境中稳健，可靠，有效地操作，例如，如果在部署过程中丢失了操作员和机器人之间的通信，则可以自动“返回家园”。这项工作提出了一种新颖的方法，该方法使移动机器人可以自主定位和攀登一系列不同的楼梯，从而在多层环境中稳健地运行。我们提出结果，其中轮式机器人与四足动物系统一起工作，以快速检测不同的楼梯并可靠地爬上它们。将这种能够在异质平台上运行的新型楼梯检测算法的性能与当前的最新检测算法进行了比较。我们表明，我们的方法显着提高了发生检测的准确性和速度。
Robotic systems need advanced mobility capabilities to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to operate robustly, reliably, and efficiently in such complex environments, e.g., automatically "returning home" if communication between an operator and robot is lost during deployment. This work presents a novel method that enables mobile robots to robustly operate in multi-level environments by making it possible to autonomously locate and climb a range of different staircases. We present results wherein a wheeled robot works together with a quadrupedal system to quickly detect different staircases and reliably climb them. The performance of this novel staircase detection algorithm that is able to run on the heterogeneous platforms is compared to the current state-of-the-art detection algorithm. We show that our approach significantly increases the accuracy and speed at which detections occur.
