Automatic estimation of the position and orientation of stairs to be reached and climbed by a disaster response robot by analyzing 2D image and 3D point cloud

Kazuya Miyakawa, Takuya Kanda, Jun Ohya, Hiroyuki Ogata, Kenji Hashimoto, Atsuo Takanishi

Research output: Contribution to journalArticle

Abstract

In order to realize a disaster response robot that can reach and climb straight stairs within a certain range, this paper proposes a method for estimating the position and orientation of the stairs using 2D image and 3D point cloud. In this method, first, an object detection method is applied to an RGB image, and a 3D point cloud including stairs is extracted by combining the detection result and the 3D point cloud. Next, a 3D point cloud of a step candidate is extracted by applying plane estimation and region segmentation to the extracted 3D point cloud. The 3D point cloud of the step candidate is projected on a 2D plane, and the orientation of the stairs is estimated by detecting their contour and lines. In addition, the position of the stairs is estimated by searching for a combination of 3D point clouds of the step candidates located at equal intervals using the structural characteristics of the stairs. As a result of simulation using a disaster response robot WAREC-1, it was confirmed that the orientation of the stairs can be accurately estimated by the proposed method. It was also confirmed that the position could be accurately estimated under specific conditions.

Original languageEnglish
Pages (from-to)1312-1321
Number of pages10
JournalInternational Journal of Mechanical Engineering and Robotics Research
Volume9
Issue number9
DOIs
Publication statusPublished - 1 Sep 2020

Keywords

  • Climbing stairs
  • Disaster response robot
  • Object detection, 3D point cloud processing
  • Reaching stairs

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