Summary
International Workshop on Smart Info-Media Systems in Asia
2023
Session Number:RS1
Session:
Number:RS1-6
Robust Trash Can Lid Opening System
Kosei Isomoto, Yuga Yano, Yuichiro Tanaka, Hakaru Tamukoh,
pp.30-33
Publication Date:2023/8/31
Online ISSN:2188-5079
Summary:
In recent years, home service robots have gained attention due to the growing aging society around the world. Furniture recognition and handling are essential for home service robots. Home service robots need a specific approach for each piece of furniture. One such task is to collect a trash bag from a trash can. During collecting the trash bag, a robot has to recognize and open the trash can lid. The existing method for opening a trash can lid uses You Only Look Once for lid recognition. However, this method does not recognize the lid handle orientation and height, and the size of the trash can has to be predetermined. Therefore we propose a robust recognition and opening system regardless of trash can types (color and height) and lid orientations. We conduct experiments with the system robustness against three lids, two trash can heights, and six handle orientations. The experimental result shows that our system successfully recognizes and opens the lids with a success rate of over 70%. The existing method can not adapt to a trash can height changes without manually adjusting. Therefore, we conclude our system is more robust than the existing method.