Window Shape Estimation for Glass Façade-Cleaning Robot
This paper presents an approach to the estimation of a window shape for increasing the adaptability of glass façade-cleaning robots to different buildings. For this approach, a window scanning robot equipped with a 2D laser range scanner installed perpendicularly to a window surface is developed for...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-01-01
|
| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/2/175 |
| _version_ | 1797619788907806720 |
|---|---|
| author | Takuma Nemoto Shunsuke Nansai Shohei Iizuka Masami Iwase Hiroshi Itoh |
| author_facet | Takuma Nemoto Shunsuke Nansai Shohei Iizuka Masami Iwase Hiroshi Itoh |
| author_sort | Takuma Nemoto |
| collection | DOAJ |
| description | This paper presents an approach to the estimation of a window shape for increasing the adaptability of glass façade-cleaning robots to different buildings. For this approach, a window scanning robot equipped with a 2D laser range scanner installed perpendicularly to a window surface is developed for the testbed, and a method for the window shape estimation is proposed, which consists of the robot’s pose estimation with an extended Kalman filter (EKF) and the loop closure based on the robot’s pose estimated. The effectiveness of the proposed approach is demonstrated through an experiment that is carried out on a window placed on a floor. The experimental results show that the window scanning robot can acquire a window shape, moving on a window surface, and the proposed approach is effective in increasing the accuracy of the window shape estimation. |
| first_indexed | 2024-03-11T08:31:50Z |
| format | Article |
| id | doaj.art-c1622ca9c68c4b35a4b78fe71406763e |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T08:31:50Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-c1622ca9c68c4b35a4b78fe71406763e2023-11-16T21:44:56ZengMDPI AGMachines2075-17022023-01-0111217510.3390/machines11020175Window Shape Estimation for Glass Façade-Cleaning RobotTakuma Nemoto0Shunsuke Nansai1Shohei Iizuka2Masami Iwase3Hiroshi Itoh4Department of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, JapanDepartment of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, JapanRobotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, JapanDepartment of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, JapanDepartment of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, JapanThis paper presents an approach to the estimation of a window shape for increasing the adaptability of glass façade-cleaning robots to different buildings. For this approach, a window scanning robot equipped with a 2D laser range scanner installed perpendicularly to a window surface is developed for the testbed, and a method for the window shape estimation is proposed, which consists of the robot’s pose estimation with an extended Kalman filter (EKF) and the loop closure based on the robot’s pose estimated. The effectiveness of the proposed approach is demonstrated through an experiment that is carried out on a window placed on a floor. The experimental results show that the window scanning robot can acquire a window shape, moving on a window surface, and the proposed approach is effective in increasing the accuracy of the window shape estimation.https://www.mdpi.com/2075-1702/11/2/175façade-cleaning robotwindow shape estimationextended Kalman filter (EKF)loop closure |
| spellingShingle | Takuma Nemoto Shunsuke Nansai Shohei Iizuka Masami Iwase Hiroshi Itoh Window Shape Estimation for Glass Façade-Cleaning Robot Machines façade-cleaning robot window shape estimation extended Kalman filter (EKF) loop closure |
| title | Window Shape Estimation for Glass Façade-Cleaning Robot |
| title_full | Window Shape Estimation for Glass Façade-Cleaning Robot |
| title_fullStr | Window Shape Estimation for Glass Façade-Cleaning Robot |
| title_full_unstemmed | Window Shape Estimation for Glass Façade-Cleaning Robot |
| title_short | Window Shape Estimation for Glass Façade-Cleaning Robot |
| title_sort | window shape estimation for glass facade cleaning robot |
| topic | façade-cleaning robot window shape estimation extended Kalman filter (EKF) loop closure |
| url | https://www.mdpi.com/2075-1702/11/2/175 |
| work_keys_str_mv | AT takumanemoto windowshapeestimationforglassfacadecleaningrobot AT shunsukenansai windowshapeestimationforglassfacadecleaningrobot AT shoheiiizuka windowshapeestimationforglassfacadecleaningrobot AT masamiiwase windowshapeestimationforglassfacadecleaningrobot AT hiroshiitoh windowshapeestimationforglassfacadecleaningrobot |