A novel autonomous staircase cleaning system with robust 3D-Deep Learning-based perception technique for Area-Coverage
作者：
Highlights：
• A novel reconfigurable ascend descend staircase cleaning robot is introduced.
• A 3D-point cloud-based perception framework is introduced for autonomous area-coverage.
• A sweeping 2D lidar has been implemented to generate 3D point cloud data of the robot’s environment.
• The developed robot and the perception system is evaluated in real-world scenarios.
• Using the perception framework the robot demonstrates a successful area coverage.
摘要
•A novel reconfigurable ascend descend staircase cleaning robot is introduced.•A 3D-point cloud-based perception framework is introduced for autonomous area-coverage.•A sweeping 2D lidar has been implemented to generate 3D point cloud data of the robot’s environment.•The developed robot and the perception system is evaluated in real-world scenarios.•Using the perception framework the robot demonstrates a successful area coverage.
论文关键词：Cleaning System,Building Maintenance,Staircase Traversing,Area Coverage,Perception for Autonomy,3D Point Cloud
论文评审过程：Received 25 May 2021, Revised 12 August 2021, Accepted 7 January 2022, Available online 20 January 2022, Version of Record 29 January 2022.
论文官网地址：https://doi.org/10.1016/j.eswa.2022.116528
