A Solution to Room-by-Room Coverage for Autonomous Cleaning Robots

ANDREAS KOLLING; ALEXANDER KLEINER; PABLO PILOTTI; RODRIGO BARAVALLE; MARIO MUNICH

Congreso; 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2017

We introduce RoomsSeg, a novel method for segmenting occupancy grid maps into regions that represent rooms and corridors in the real world. The segmentation is utilized for systematic room-by-room cleaning on autonomous vacuum cleaners running in private homes. The proposed method is based on thewatershed segmentation and semantic decision rules for region merging. Presented experimental results clearly indicate the efficiency and accuracy of the approach when compared with state of the art methods. When deployed on cleaning robots, a substantial decrease in mission time can be achieved.