Window Shape Estimation for Glass Façade-Cleaning Robot
Takuma Nemoto,
Shunsuke Nansai,
Shohei Iizuka,
Masami Iwase,
Hiroshi Itoh
Affiliations
Takuma Nemoto
Department of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan
Shunsuke Nansai
Department of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan
Shohei Iizuka
Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan
Masami Iwase
Department of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan
Hiroshi Itoh
Department of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan
This paper presents an approach to the estimation of a window shape for increasing the adaptability of glass façade-cleaning robots to different buildings. For this approach, a window scanning robot equipped with a 2D laser range scanner installed perpendicularly to a window surface is developed for the testbed, and a method for the window shape estimation is proposed, which consists of the robot’s pose estimation with an extended Kalman filter (EKF) and the loop closure based on the robot’s pose estimated. The effectiveness of the proposed approach is demonstrated through an experiment that is carried out on a window placed on a floor. The experimental results show that the window scanning robot can acquire a window shape, moving on a window surface, and the proposed approach is effective in increasing the accuracy of the window shape estimation.
