A System for Automatic Marking of Floors in Very Large Spaces
Patric Jensfelt, Gunnar Gullstrand and Erik Förell
Abstract:
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.
BibTeX Entry:
@InProceedings{Jensfelt05a,
author = {Patric Jensfelt and Gunnar Gullstrand and Erik F{\"o}rell},
title = {A System for Automatic Marking of Floors in Very Large Spaces},
booktitle = {Proc.~of the International Conference on Field and Service Robotics (FSR'05)},
year = 2005,
address = jul
}
Download: pdf (2.0M)