2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) 2023
DOI: 10.1109/ro-man57019.2023.10309560
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Teaching a Robot Where Doors and Drawers Are and How To Handle Them

R. Cupec,
I. Vidović,
V. Šimundić
et al.

Abstract: We address the problem of teaching a service robot to detect doors and drawers in indoor environments. We propose a robust and accurate method in which a human demonstrates to the robot how to open doors and drawers that the robot is expected to operate in its future use. The proposed algorithm creates a model of a door or drawer from a sequence of RGB-D images and inserts it into an environment map. The model contains information about the size of the door panel or drawer front, as well as the position and or… Show more

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