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학술대회 Indoor/Outdoor Transition Recognition Based on Door Detection
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전서현, 김민정, 박승환, 이재영
International Conference on Ubiquitous Robots (UR) 2022, pp.46-49
22HS1300, 불확실한 지도 기반 실내ㆍ외 환경에서 최종 목적지까지 이동로봇을 가이드할 수 있는 AI 기술 개발, 이재영
An autonomous navigating mobile robot uses various sensors for localization, such as GPS, laser scanner, IMU, odometer, and camera. These sensors use different weights and parameters according to the location, whether the robot is in indoors or outdoors. For both indoor and outdoor (IO) seamless navigation, the robot needs to know where the robot is, either indoors or outdoors, and when the IO transition has been made. This way the robot can switch the appropriate weights and parameters at the right time.This paper describes the method of identifying the moment when the indoor and outdoor transition is made. In order to recognize the time of IO transition, door detection with YOLOv5 is used. As the robot approaches the door, the detected bounding box of the door shows changes in size. This feature is used for IO transition recognition. The algorithm is tested with two scenarios and it shows that this method is simple and applicable to real world and the result is reliable to the detection failure.
KSP 제안 키워드
Bounding Box, Mobile robots, Real-world, Seamless navigation, door detection, laser scanner