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Perception Pipeline of Autonomous Mobile Robots using 3D Point Cloud Classification

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conference contribution
posted on 2024-08-01, 02:19 authored by Abdul Hady Bin Zaydie, Malcolm Yoke Hean LowMalcolm Yoke Hean Low, Weidong LinWeidong Lin

Robotics can be used in structured environments such as industrial manufacturing plants and warehouse storage. The paper discusses the necessity of a strong perception pipeline for mobile robots in dynamic environments such as malls and airports. To create accurate maps of the environment, we highlight the importance of both 2D and 3D mapping and point out the issues with manual 2D map cleaning, manual creation of restricted zones, and manual classification of dangerous locations. The process of manually gathering and processing the 3D point clouds from real-world environments was tedious and time-consuming. Hence, one of the contributions of the paper is the generation and labelling of such point clouds from NVIDIA Omniverse scenes. We reviewed the technological advances that have made it possible to deploy robot fleets in structured environments and gave examples of sectors that have successfully used mobile robots with perception pipelines. The advantages of the perception pipeline implementation are also discussed, including improved path planning, navigation, and obstacle avoidance.

History

Journal/Conference/Book title

17th IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI 2023)

Publication date

2024-02-14

Version

  • Post-print

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© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Corresponding author

Malcolm Yoke Hean Low

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