About: Vision Based Wall Following Framework: A Case Study With HSR Robot for Cleaning Application

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About: Vision Based Wall Following Framework: A Case Study With HSR Robot for Cleaning Application Goto Sponge NotDistinct Permalink

An Entity of Type : schema:ScholarlyArticle, within Data Space : covidontheweb.inria.fr associated with source document(s)

Attributes	Values
type	Academic Article research paper schema:ScholarlyArticle
isDefinedBy	Covid-on-the-Web dataset
title	Vision Based Wall Following Framework: A Case Study With HSR Robot for Cleaning Application
Creator	Yin, Jia Ramalingam, Balakrishnan Veerajagadheswar, Prabakaran Félix Gómez, Braulio Elara, Rajesh »more»
source	Medline; PMC
abstract	Periodic cleaning of all frequently touched social areas such as walls, doors, locks, handles, windows has become the first line of defense against all infectious diseases. Among those, cleaning of large wall areas manually is always tedious, time-consuming, and astounding task. Although numerous cleaning companies are interested in deploying robotic cleaning solutions, they are mostly not addressing wall cleaning. To this end, we are proposing a new vision-based wall following framework that acts as an add-on for any professional robotic platform to perform wall cleaning. The proposed framework uses Deep Learning (DL) framework to visually detect, classify, and segment the wall/floor surface and instructs the robot to wall follow to execute the cleaning task. Also, we summarized the system architecture of Toyota Human Support Robot (HSR), which has been used as our testing platform. We evaluated the performance of the proposed framework on HSR robot under various defined scenarios. Our experimental results indicate that the proposed framework could successfully classify and segment the wall/floor surface and also detect the obstacle on wall and floor with high detection accuracy and demonstrates a robust behavior of wall following.
has issue date	2020-06-10(xsd:dateTime)
bibo:doi	10.3390/s20113298
bibo:pmid	32531960
has license	cc-by
sha1sum (hex)	da2a78f45192237af6105158aa84f4509b6e20fd
schema:url	https://doi.org/10.3390/s20113298
resource representing a document's title	Vision Based Wall Following Framework: A Case Study With HSR Robot for Cleaning Application
has PubMed Central identifier	PMC7308965
has PubMed identifier	32531960
schema:publication	Sensors (Basel)
resource representing a document's body	covid:da2a78f45192237af6105158aa84f4509b6e20fd#body_text
is schema:about of	named entity 'frequently' named entity 'manually' named entity 'detect' named entity 'platform' named entity 'Framework' »more»

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