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Estimating the Orientation of 3D-Structured Switches Using the RGB-D Camera Attached to a Disaster Response Robot

Takuya Kanda 1, Li Qi 2, Jun Ohya 2, Atsuo Takanishi 2, Hiroyuki Ogata 3, and Kenji Hshimoto 4
1. Waseda University/ Department of Integrative Bioscience and Biomedical Engineering, Tokyo, Japan
2. Waseda University /Department of Modern Mechanical Engineering, Tokyo, Japan
3. Seikei University / Department of System Design Engineering, Tokyo, Japan
4. Meiji University / Department of Mechanical Engineering, Kanagawa, Japan

Abstract—Towards the actualization of autonomous switch operation method for the disaster response robot, it is necessary to estimate the position and orientation of the switch in the site. This paper proposes a method for estimating switch orientation information based on the RGB-D sensor information attached to the disaster response robot. The flow of the proposed method in this paper consists of the following three stages. (1) Acquisition of RGB-D information of the switch area using the detection result of YOLOv3. (2) Position estimation of switch operation part by CNN from RGB-D information of switch area. (3) Estimation of switch orientation information using switch operation part position information and information on wall plane on which the switch exists. In the experiment, the proposed method was applied to three types of switch boxes, and the calculation results of the orientation information were evaluated. It was found from the experimental results that the calculation with sufficient accuracy is possible. 

Index Terms—disaster response robot, intelligence robotics, image processing, object detection, point cloud data processing

Cite: Takuya Kanda, Li Qi, Jun Ohya, Atsuo Takanishi, Hiroyuki Ogata, and Kenji Hshimoto, "Estimating the Orientation of 3D-Structured Switches Using the RGB-D Camera Attached to a Disaster Response Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 10, pp. 1432-1438, October 2020. DOI: 10.18178/ijmerr.9.10.1432-1438

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.

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