Publications / 2013 Proceedings of the 30th ISARC, Montréal, Canada

Wall Classifier for Gondola-Typed Robot Using Kalman Filter

D. Y. Kim, J. Yoon, C.-W. Park
Pages 685-690 (2013 Proceedings of the 30th ISARC, Montréal, Canada, ISBN 978-1-62993-294-1, ISSN 2413-5844)

This paper shows an approach that a gondola-typed robot recognizes walls on building facades. It is applicable for autonomous or teleoperated building façade painting robots. The robot may react based on the wall classification data. This approach is based on 2D LRF(two-dimensional Laser Range Finder). The robot acquires relative distances to walls, and a Kalman filter decides correspondence of walls. An ARS(Attribute Reference System) sensor helps convert LRF coordinate to global coordinate. The experimental results demonstrate the conversion of LRF data.

Keywords: Robotics, Gondola, Façade, Maintenance, Wall, Classifier