Journal
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)
Volume -, Issue -, Pages 4148-4154Publisher
IEEE
DOI: 10.1109/ICRA48506.2021.9561106
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Funding
- European Union Regional Fund: Integrating Human-Robot Collaboration into Danish SME Manufacturing and Production
- Danish SMEs
- Aarhus University
- China Scholarship Council [201906080023]
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Research focus has shifted towards automatic plug-in changing in unmanned and dangerous environments, utilizing deep learning on 3D point clouds for object detection. A mobile robot manipulator is used to provide mobility and manipulation for automated plug-in charging operations. Conducted testing validates the 3D object detection algorithm developed for automatic plug-in charging.
Increasing research attention has been attracted to automatic plug-in changing in an unmanned and dangerous environment. In this work, we develop an object detection solution based on deep learning on 3D point clouds using a mobile robot manipulator to provide mobility and manipulation. In this solution, the 3D point cloud technology is adopted to measure the shapes and depth information for plug-in charging. Then the deep learning is employed to deal with the uncertainty in 3D detection, such as inconsistent light conditions, irregular distribution, and structural ambiguity of point clouds. We utilize a mobile robot manipulator carrying a 3D camera and a gripper to detect the targeted objects and automate plug-in charging operations. The proposed 3D object detection principle and procedure for the automatic plug-in charging are presented in detail. The automatic plug-in charging testing is conducted to validate the developed 3D object detection algorithm using a mobile robot manipulator.
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