Publication detail

Mobile Robot in the Elevator: What Floor Am I On?

KREJSA, J. VĚCHET, S. CHEN, K. HAVELKA, M. ČERNIL, M.

English title

Mobile Robot in the Elevator: What Floor Am I On?

Type

conference paper

Language

en

Original abstract

Wheeled mobile robots in multiple stories buildings have to use elevator to access arbitrary floor of the building. To do so, the control system must be able to detect and access elevator controls and also determine on which floor the elevator stopped. The paper deals with the latter problem, using the fusion of relative floor change detected by onboard accelerometer and absolute floor number detected by the processing of elevator information screen panel image acquired by onboard camera. Bayesian filter is used for data fusion and convolution neural network for image processing. Field tests resulted in 97% correct detection.

English abstract

Wheeled mobile robots in multiple stories buildings have to use elevator to access arbitrary floor of the building. To do so, the control system must be able to detect and access elevator controls and also determine on which floor the elevator stopped. The paper deals with the latter problem, using the fusion of relative floor change detected by onboard accelerometer and absolute floor number detected by the processing of elevator information screen panel image acquired by onboard camera. Bayesian filter is used for data fusion and convolution neural network for image processing. Field tests resulted in 97% correct detection.

Keywords in English

mobile robot; elevator floor determination; measurement; signal processing; Bayesian filtering

Released

21.12.2022

Publisher

IEEE

Location

NEW YORK

ISBN

978-1-6654-1040-3

Book

Proceedings of the 2022 20th International Conference on Mechatronics - Mechatronika (ME)

Edition number

1

Pages count

5

BIBTEX


@inproceedings{BUT188005,
  author="Jiří {Krejsa} and Stanislav {Věchet} and Kuo-Shen {Chen} and Martin {Havelka} and Martin {Černil},
  title="Mobile Robot in the Elevator: What Floor Am I On?",
  booktitle="Proceedings of the 2022 20th International Conference on Mechatronics - Mechatronika (ME) ",
  year="2022",
  month="December",
  publisher="IEEE",
  address="NEW YORK",
  isbn="978-1-6654-1040-3"
}