Painting Path Planning for a Painting Robot with a RealSense Depth Sensor
Vladimir Tadić, Ákos Odry, Ervin Burkus, István Kecskés, Zoltán Király, Mihály Klincsik, Zoltán Sari, Zoltán Vizvári, Attila Tóth, Péter Odry
Abstract
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.