Indoor/Outdoor Transition Recognition Based on Door Detection

Seohyun Jeon, Minjung Kim, Seunghwan Park, Jaeyeon Lee
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引用次数: 2

Abstract

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.
基于门检测的室内外过渡识别
自主导航移动机器人使用各种传感器进行定位,如GPS、激光扫描仪、IMU、里程表和摄像头。这些传感器根据机器人在室内还是室外的位置使用不同的权重和参数。对于室内外(IO)无缝导航,机器人需要知道自己在室内还是室外的位置,以及何时进行了IO转换。这样,机器人就可以在适当的时间切换适当的重量和参数。本文介绍了室内外过渡时刻的辨识方法。为了识别IO转换时间,使用YOLOv5进行门检测。当机器人靠近门时,检测到的门边界框显示出大小的变化。该特性用于IO转换识别。实验结果表明,该方法简单、适用于实际情况,对检测故障的结果是可靠的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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