Window Shape Estimation for Glass Facade-Cleaning Robot

This paper presents an approach to the estimation of a window shape for increasing the adaptability of glass facade-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.

Automated summary

This paper presents an approach to estimate the window shape for glass facade-cleaning robots to adapt to different buildings. A window scanning robot with a 2D laser range scanner is used for the experiment, and a method for window shape estimation is proposed, which includes robot's pose estimation with an extended Kalman filter (EKF) and loop closure based on the estimated pose. The effectiveness of the approach is demonstrated through an experiment on a placed window. The results show that the window scanning robot can accurately acquire the shape of the window surface and increase the accuracy of the estimation.