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A system for automatic marking of floors in very large spaces
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2006 (English)In: Field and Service Robotics / [ed] Corke, P; Sukkarieh, S, SPRINGER-VERLAG BERLIN: BERLIN , 2006, Vol. 25, 93-104 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes a system for automatic marking of floors. Such systems can be used for example when marking the positions of stands for a trade fair or exhibition. Achieving a high enough accuracy in such an environment, characterized by very large open spaces, is a major challenge. Environmental features will be much further away then in most other indoor applications and even many outdoor applications. A SICK LMS 291 laser scanner is used for localization purposes. Experiments show that many of the problems that are typically associated with the large beam width of ultra sonic sensors in normal indoor environments manifest themselves here for the laser because of the long range. The system that is presented has been in operation for almost two years to date and has been used for every exhibition in the three main exhibition halls at the Stockholm International Fair since then. The system has speeded up the marking process significantly. For example, what used to be a job for two men over eight hours now takes one robot monitored by one man four hours to complete.

Place, publisher, year, edition, pages
SPRINGER-VERLAG BERLIN: BERLIN , 2006. Vol. 25, 93-104 p.
Series
SPRINGER TRACTS IN ADVANCED ROBOTICS, ISSN 1610-7438 ; 25
Keyword [en]
floor marking, localization, large space, long range, laser
Identifiers
URN: urn:nbn:se:kth:diva-42120DOI: 10.1007/11736592_9ISI: 000241438000009Scopus ID: 2-s2.0-33748912250ISBN: 3-540-33452-1 (print)OAI: oai:DiVA.org:kth-42120DiVA: diva2:446068
Conference
5th International Conference on Field and Service Robotics. Port Douglas, AUSTRALIA. JUL 29-31, 2005
Note

QC 20111006

Available from: 2011-10-06 Created: 2011-10-05 Last updated: 2016-12-21Bibliographically approved

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Jensfelt, Patric

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