Liu, J;
Balatti, P;
Ellis, K;
Hadjivelichkov, D;
Stoyanov, D;
Ajoudani, A;
Kanoulas, D;
(2021)
Garbage Collection and Sorting with a Mobile Manipulator using Deep Learning and Whole-Body Control.
In:
Proceedings of the 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids).
(pp. pp. 408-414).
Institute of Electrical and Electronics Engineers (IEEE): Munich, Germany.
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Abstract
Domestic garbage management is an important aspect of a sustainable environment. This paper presents a novel garbage classification and localization system for grasping and placement in the correct recycling bin, integrated on a mobile manipulator. In particular, we first introduce and train a deep neural network (namely, GarbageNet) to detect different recyclable types of garbage. Secondly, we use a grasp localization method to identify a suitable grasp pose to pick the garbage from the ground. Finally, we perform grasping and sorting of the objects by the mobile robot through a whole-body control framework. We experimentally validate the method, both on visual RGB-D data and indoors on a real full-size mobile manipulator for collection and recycling of garbage items placed on the ground.
| Type: | Proceedings paper |
|---|---|
| Title: | Garbage Collection and Sorting with a Mobile Manipulator using Deep Learning and Whole-Body Control |
| Event: | 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) |
| ISBN-13: | 978-1-7281-9372-4 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/HUMANOIDS47582.2021.9555800 |
| Publisher version: | https://doi.org/10.1109/HUMANOIDS47582.2021.955580... |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10133187 |
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