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Article

Painting Path Planning for a Painting Robot with a RealSense Depth Sensor

1
Institute of Information Technology, University of Dunaujvaros, Tancsics Mihaly u. 1/A Pf.: 152, 2401 Dunaujvaros, Hungary
2
Department of Technical Informatics, Faculty of Engineering and Information Technology, University of Pecs, Boszorkany str. 2, H-7624 Pecs, Hungary
3
Department of Environmental Engineering, Faculty of Engineering and Information, Technology, University of Pecs, Boszorkany str. 2, H-7624 Pecs, Hungary
4
Institute of Physiology, Medical School, University of Pecs, Szigeti str 12, H-7624 Pecs, Hungary
*
Author to whom correspondence should be addressed.
Academic Editor: Oscar Reinoso García
Appl. Sci. 2021, 11(4), 1467; https://doi.org/10.3390/app11041467
Received: 8 January 2021 / Revised: 28 January 2021 / Accepted: 1 February 2021 / Published: 5 February 2021
(This article belongs to the Section Robotics and Automation)
The utilization of stereo cameras in robotic applications is presented in this paper. The use of a stereo depth sensor is a principal step in robotics applications, since it is the first step in sequences of robotic actions where the intent is to detect and extract windows and obstacles that are not meant to be painted from the surrounding wall. A RealSense D435 stereo camera was used for surface recording via a real-time, appearance-based (RTAB) mapping procedure, as well as to navigate the painting robot. Later, wall detection and the obstacle avoidance processes were performed using statistical filtering and a random sample consensus model (RANSAC) algorithm. View Full-Text
Keywords: depth image; RTAB mapping; statistical filter; RANSAC; obstacle avoidance depth image; RTAB mapping; statistical filter; RANSAC; obstacle avoidance
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MDPI and ACS Style

Tadic, V.; Odry, A.; Burkus, E.; Kecskes, I.; Kiraly, Z.; Klincsik, M.; Sari, Z.; Vizvari, Z.; Toth, A.; Odry, P. Painting Path Planning for a Painting Robot with a RealSense Depth Sensor. Appl. Sci. 2021, 11, 1467. https://doi.org/10.3390/app11041467

AMA Style

Tadic V, Odry A, Burkus E, Kecskes I, Kiraly Z, Klincsik M, Sari Z, Vizvari Z, Toth A, Odry P. Painting Path Planning for a Painting Robot with a RealSense Depth Sensor. Applied Sciences. 2021; 11(4):1467. https://doi.org/10.3390/app11041467

Chicago/Turabian Style

Tadic, Vladimir, Akos Odry, Ervin Burkus, Istvan Kecskes, Zoltan Kiraly, Mihaly Klincsik, Zoltan Sari, Zoltan Vizvari, Attila Toth, and Peter Odry. 2021. "Painting Path Planning for a Painting Robot with a RealSense Depth Sensor" Applied Sciences 11, no. 4: 1467. https://doi.org/10.3390/app11041467

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