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Passing through Open/Closed Doors: A Solution for 3D Scanning Robots.

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Area of Science:

  • Robotics
  • Computer Vision
  • 3D Data Processing

Background:

  • Autonomous mobile platforms require sophisticated navigation for complex environments.
  • Building scanning necessitates efficient methods for interior data acquisition and modeling.

Purpose of the Study:

  • To propose a traversing door methodology for mobile platforms.
  • To develop a system for autonomous door interaction and passage in buildings.

Main Methods:

  • Utilizing dense 3D laser scanners for environmental perception.
  • Implementing door state recognition (open, closed, semi-closed).
  • Developing robot arm interaction for closed door manipulation.

Main Results:

  • The MoPAD platform successfully navigated and passed through open doors in real-world building environments.
  • Closed door passage was successfully simulated using a 4DOF robot arm in Gazebo.
  • Accurate door identification and state recognition were achieved.

Conclusions:

  • The proposed door traversing methodology is effective for autonomous mobile platforms.
  • The system enhances the capabilities of mobile platforms for building digitization.
  • The solution shows potential for adaptation to various platforms and robot arms.