论文标题
机器人对静态和动态物体具有自主地板洗涤器的感知
Robot Perception of Static and Dynamic Objects with an Autonomous Floor Scrubber
论文作者
论文摘要
本文介绍了大型公共场所的新专业清洁机器人的感知系统。所提出的系统基于多个传感器，包括3D和2D LIDAR，两个RGB-D摄像机和一个立体声摄像头。两个痛与RGB-D相机一起用于动态对象（人）检测和跟踪，而第二个RGB-D和立体声摄像机用于检测静态对象（污垢和接地对象）。还引入了基于感知管道的环境时空表示的学习和推理模块。此外，发布了一个新的数据集，该数据集已发布在几个公共场所的机器人，包括超市，仓库和机场。提供了该数据集的基线结果，以进行进一步的研究和比较。拟议的系统已完全实施到具有高模块化的机器人操作系统（ROS）中，也可以公开可供社区使用。
This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars together with an RGB-D camera are used for dynamic object (human) detection and tracking, while the second RGB-D and stereo camera are used for detection of static objects (dirt and ground objects). A learning and reasoning module for spatial-temporal representation of the environment based on the perception pipeline is also introduced. Furthermore, a new dataset collected with the robot in several public places, including a supermarket, a warehouse and an airport, is released. Baseline results on this dataset for further research and comparison are provided. The proposed system has been fully implemented into the Robot Operating System (ROS) with high modularity, also publicly available to the community.
