Abstract
Small autonomous florr cleaning robots are the first robots to have entered our homes. These automatic vacuum cleaners have only used ver low-level dirt detection sensors and the vision systems have been constrained to plain-colored and simple-textured floors. However, for industrial applications, where efficiency and the quality of work are paramount, explicit high-level dirt detection is essential. To extend the usability of floor cleaning robots to theses real-world applications, we introduce a more general approach that detects dirt spots on single-colored as well as regularly-textured floors. Dirt detection is approached as a single-class classification problem, using unsupervised online learning of a Gaussian Mixture Model representing the floor pattern. An extensive evaluation shows that our method detects dirt spots on different floor types and that it outperforms state-of-the-art approaches especially for complex floor textures.
This work is supported by the European Commission through the Horizon 2020 Programme (H2020-ICT-2014-1, Grant agreement no: 645376).
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GrĂ¼nauer, A., Halmetschlager-Funek, G., Prankl, J., Vincze, M. (2017). The Power of GMMs: Unsupervised Dirt Spot Detection for Industrial Floor Cleaning Robots. In: Gao, Y., Fallah, S., Jin, Y., Lekakou, C. (eds) Towards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science(), vol 10454. Springer, Cham. https://doi.org/10.1007/978-3-319-64107-2_34
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DOI: https://doi.org/10.1007/978-3-319-64107-2_34
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