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Open AccessArticle

Robot-Assisted Floor Surface Profiling Using Low-Cost Sensors

1
Department of Mechanical and Electrical Engineering, SF&AT, Massey University, Auckland 0632, New Zealand
2
Massey Agritech Partnership Research Centre, SF&AT, Massey University, Palmerston North 4442, New Zealand
*
Author to whom correspondence should be addressed.
Remote Sens. 2019, 11(22), 2626; https://doi.org/10.3390/rs11222626
Received: 9 October 2019 / Revised: 6 November 2019 / Accepted: 7 November 2019 / Published: 10 November 2019
Low cost and accurate 3D surface profiling can help in numerous industry applications including inspection tasks, cleaning, minimizing bumps in navigation of non-uniform terrain, aid navigation, and road/pavement condition analysis. However, most of the available systems are costly or inaccessible for widespread use. This research presents investigation into the capability of cheap and accessible sensors to capture the floor surface profile information. A differential drive robotic platform has been developed to perform testing and conduct the research. 2D localization methods are extrapolated into 3D for the floor capturing process. Two different types of sensors, a 2D laser scanner and an RGB-D camera, are used for comparison of the floor profile capture ability. The robotic system is able to successfully capture the floor surface profile of a number of different type floors such as carpet, asphalt, and a coated floor. A key finding is that the surface itself is a significant factor on the measured profile, i.e., dirt or other materials can cause false height measurements. Overall, the methodology has proved a successful real time solution for creating a point cloud of the floor surface. View Full-Text
Keywords: floor surface profile; surface map; laser scanner; RGB-D camera; point cloud; mobile robot; robot operating system floor surface profile; surface map; laser scanner; RGB-D camera; point cloud; mobile robot; robot operating system
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Wilson, S.; Potgieter, J.; Arif, K.M. Robot-Assisted Floor Surface Profiling Using Low-Cost Sensors. Remote Sens. 2019, 11, 2626.

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