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Blunder N, Thiel M, Schrick M, Hinckeldeyn J, Kreutzfeldt J (2022). Integration and Evaluation of a Close Proximity Obstacle Detection for Mobile Robots in Public Space. Logistics Journal : Proceedings, Vol. 2022. (urn:nbn:de:0009-14-55802)

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%0 Journal Article
%T Integration and Evaluation of a Close Proximity Obstacle Detection for Mobile Robots in Public Space
%A Blunder, Noel
%A Thiel, Marko
%A Schrick, Manuel
%A Hinckeldeyn, Johannes
%A Kreutzfeldt, Jochen
%J Logistics Journal : Proceedings
%D 2022
%V 2022
%N 18
%@ 2192-9084
%F blunder2022
%X To ensure safe operation of mobile robots in public spaces, the robots must be able to detect obstacles and identify non-traversable ground. However, there are relatively few suitable methods for mobile robots in urban environments available and equally few empirical data on such applications. This contribution identifies requirements for such systems, designs meaningful test scenarios, and evaluates an exemplary approach using a mobile robot platform with depth sensors. It is found that the method is suitable in principle, but that different roadway elements pose a challenge to detection. Corrupted sensor data due to tilting movements or overexposure also negatively affect the quality of obstacle detection.
%L 620
%K mobile robot
%K obstacle detection
%K public space
%K traversability
%K urban test scenarios
%R 10.2195/lj_proc_blunder_en_202211_01
%U http://nbn-resolving.de/urn:nbn:de:0009-14-55802
%U http://dx.doi.org/10.2195/lj_proc_blunder_en_202211_01
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Bibtex

@Article{blunder2022,
  author = 	"Blunder, Noel
		and Thiel, Marko
		and Schrick, Manuel
		and Hinckeldeyn, Johannes
		and Kreutzfeldt, Jochen",
  title = 	"Integration and Evaluation of a Close Proximity Obstacle Detection for Mobile Robots in Public Space",
  journal = 	"Logistics Journal : Proceedings",
  year = 	"2022",
  volume = 	"2022",
  number = 	"18",
  keywords = 	"mobile robot; obstacle detection; public space; traversability; urban test scenarios",
  abstract = 	"To ensure safe operation of mobile robots in public spaces, the robots must be able to detect obstacles and identify non-traversable ground. However, there are relatively few suitable methods for mobile robots in urban environments available and equally few empirical data on such applications. This contribution identifies requirements for such systems, designs meaningful test scenarios, and evaluates an exemplary approach using a mobile robot platform with depth sensors. It is found that the method is suitable in principle, but that different roadway elements pose a challenge to detection. Corrupted sensor data due to tilting movements or overexposure also negatively affect the quality of obstacle detection.",
  issn = 	"2192-9084",
  doi = 	"10.2195/lj_proc_blunder_en_202211_01",
  url = 	"http://nbn-resolving.de/urn:nbn:de:0009-14-55802"
}
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RIS

TY  - JOUR
AU  - Blunder, Noel
AU  - Thiel, Marko
AU  - Schrick, Manuel
AU  - Hinckeldeyn, Johannes
AU  - Kreutzfeldt, Jochen
PY  - 2022
DA  - 2022//
TI  - Integration and Evaluation of a Close Proximity Obstacle Detection for Mobile Robots in Public Space
JO  - Logistics Journal : Proceedings
VL  - 2022
IS  - 18
KW  - mobile robot
KW  - obstacle detection
KW  - public space
KW  - traversability
KW  - urban test scenarios
AB  - To ensure safe operation of mobile robots in public spaces, the robots must be able to detect obstacles and identify non-traversable ground. However, there are relatively few suitable methods for mobile robots in urban environments available and equally few empirical data on such applications. This contribution identifies requirements for such systems, designs meaningful test scenarios, and evaluates an exemplary approach using a mobile robot platform with depth sensors. It is found that the method is suitable in principle, but that different roadway elements pose a challenge to detection. Corrupted sensor data due to tilting movements or overexposure also negatively affect the quality of obstacle detection.
SN  - 2192-9084
UR  - http://nbn-resolving.de/urn:nbn:de:0009-14-55802
DO  - 10.2195/lj_proc_blunder_en_202211_01
ID  - blunder2022
ER  -
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Wordbib

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ISI

PT Journal
AU Blunder, N
   Thiel, M
   Schrick, M
   Hinckeldeyn, J
   Kreutzfeldt, J
TI Integration and Evaluation of a Close Proximity Obstacle Detection for Mobile Robots in Public Space
SO Logistics Journal : Proceedings
PY 2022
VL 2022
IS 18
DI 10.2195/lj_proc_blunder_en_202211_01
DE mobile robot; obstacle detection; public space; traversability; urban test scenarios
AB To ensure safe operation of mobile robots in public spaces, the robots must be able to detect obstacles and identify non-traversable ground. However, there are relatively few suitable methods for mobile robots in urban environments available and equally few empirical data on such applications. This contribution identifies requirements for such systems, designs meaningful test scenarios, and evaluates an exemplary approach using a mobile robot platform with depth sensors. It is found that the method is suitable in principle, but that different roadway elements pose a challenge to detection. Corrupted sensor data due to tilting movements or overexposure also negatively affect the quality of obstacle detection.
ER
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  <abstract>To ensure safe operation of mobile robots in public spaces, the robots must be able to detect obstacles and identify non-traversable ground. However, there are relatively few suitable methods for mobile robots in urban environments available and equally few empirical data on such applications. This contribution identifies requirements for such systems, designs meaningful test scenarios, and evaluates an exemplary approach using a mobile robot platform with depth sensors. It is found that the method is suitable in principle, but that different roadway elements pose a challenge to detection. Corrupted sensor data due to tilting movements or overexposure also negatively affect the quality of obstacle detection.</abstract>
  <subject>
    <topic>mobile robot</topic>
    <topic>obstacle detection</topic>
    <topic>public space</topic>
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Full Metadata

Bibliographic Citation Logistics Journal : referierte Veröffentlichungen, Vol. 2022, Iss. 18
Title

Integration and Evaluation of a Close Proximity Obstacle Detection for Mobile Robots in Public Space (eng)
Author Noel Blunder, Marko Thiel, Manuel Schrick, Johannes Hinckeldeyn, Jochen Kreutzfeldt
Language eng
Abstract To ensure safe operation of mobile robots in public spaces, the robots must be able to detect obstacles and identify non-traversable ground. However, there are relatively few suitable methods for mobile robots in urban environments available and equally few empirical data on such applications. This contribution identifies requirements for such systems, designs meaningful test scenarios, and evaluates an exemplary approach using a mobile robot platform with depth sensors. It is found that the method is suitable in principle, but that different roadway elements pose a challenge to detection. Corrupted sensor data due to tilting movements or overexposure also negatively affect the quality of obstacle detection. Um einen sicheren Betrieb von mobilen Robotern im öffentlichen Raum zu gewährleisten, müssen Roboter in der Lage sein, Hindernisse zu erkennen und unbefahrbare Bodenbereiche zu identifizieren. Es existieren jedoch nur vergleichsweise wenige geeignete Methoden für mobile Robotern in städtischen Umgebungen und ebenso wenig empirische Daten bezüglich solcher Anwendungen. In diesem Beitrag werden Anforderungen an solche Systeme identifiziert, aussagekräftige Testszenarien entworfen und ein beispielhafter Ansatz anhand eines mobilen Roboters mit Tiefensensoren evaluiert. Es wird festgestellt, dass diese Methode prinzipiell geeignet ist, jedoch verschiedene Fahrbahnelemente eine Herausforderung für die Erkennung darstellen. Fehlerhafte Sensordaten durch Kippbewegungen oder Überbelichtungen beeinträchtigen ebenfalls die Qualität der Hinderniserkennung.
Subject mobile robot, obstacle detection, public space, traversability, urban test scenarios
DDC 620
Rights fDPPL
URN: urn:nbn:de:0009-14-55802
DOI https://doi.org/10.2195/lj_proc_blunder_en_202211_01