CASIA OpenIR  > 数字内容技术与服务研究中心  > 听觉模型与认知计算
Fusing Sonars and LRF Data to Glass Detection for Robotics Navigation
Hao Wei1,2; Xueen Li1; Ying Shi1; Bo You1; Yi Xu1
2018
Conference Name2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Conference Date2018-12-15
Conference PlaceKuala Lumpur, Malaysia, Malaysia
Abstract

Identifying and detecting glass is an important part of robotic safety at office conditions. Existing glass detection algorithms rely on high-cost lidars or ultrasonic rings. We propose an efficient and simple algorithm to detect glass based on sensor fusion of ultrasound sensors and laser scanners data that can adapts to all kinds of lidars. Combine the glass detection results with gmapping algorithm to generate a more accurate map, the maximum connected domain algorithm used to remove noise from the map. We tested the glass detection algorithm on the robot platform. Experiments showed that about 93 % of the glass can be detected correctly.

KeywordGlass Detection Robotics Navigation
MOST Discipline Catalogue工学 ; 工学::计算机科学与技术(可授工学、理学学位)
DOI10.1109/ROBIO.2018.8664805
Indexed ByEI
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23687
Collection数字内容技术与服务研究中心_听觉模型与认知计算
Corresponding AuthorHao Wei
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Hao Wei,Xueen Li,Ying Shi,et al. Fusing Sonars and LRF Data to Glass Detection for Robotics Navigation[C],2018.
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