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Efficient Waste Collection via Edge Perception and Optimized Mobile Routing
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Lee, Yunseon | - |
| dc.contributor.author | Lee, Myeonghyeon | - |
| dc.contributor.author | Park, Kimun | - |
| dc.contributor.author | Kwon, Dahun | - |
| dc.contributor.author | Seok, Moon Gi | - |
| dc.date.accessioned | 2025-11-17T06:00:16Z | - |
| dc.date.available | 2025-11-17T06:00:16Z | - |
| dc.date.issued | 2025 | - |
| dc.identifier.uri | https://scholarworks.dongguk.edu/handle/sw.dongguk/62103 | - |
| dc.description.abstract | We present a two-stage framework for robotic waste collection that combines global perception and local planning. Fixed edge cameras perform wide-area object detection, and a Multi-Layer Perceptron (MLP) corrects geometric projection errors for improved localization. Mobile robots then refine poses using depth sensing and execute pickup actions along routes optimized by a multi-objective Traveling Salesman Problem (TSP) planner. Experiments in a controlled lab demonstrate that the MLP correction significantly enhances positioning accuracy, while the optimized routing reduces path length and improves collection efficiency. © 2025 Elsevier B.V., All rights reserved. | - |
| dc.format.extent | 2 | - |
| dc.language | 영어 | - |
| dc.language.iso | ENG | - |
| dc.publisher | IEEE | - |
| dc.title | Efficient Waste Collection via Edge Perception and Optimized Mobile Routing | - |
| dc.type | Article | - |
| dc.publisher.location | 미국 | - |
| dc.identifier.doi | 10.1109/MetaCom65502.2025.00027 | - |
| dc.identifier.scopusid | 2-s2.0-105020813506 | - |
| dc.identifier.bibliographicCitation | 2025 International Conference on Metaverse Computing, Networking and Applications (MetaCom), pp 123 - 124 | - |
| dc.citation.title | 2025 International Conference on Metaverse Computing, Networking and Applications (MetaCom) | - |
| dc.citation.startPage | 123 | - |
| dc.citation.endPage | 124 | - |
| dc.type.docType | Conference paper | - |
| dc.description.isOpenAccess | Y | - |
| dc.description.journalRegisteredClass | foreign | - |
| dc.subject.keywordAuthor | depth aware pose refinement | - |
| dc.subject.keywordAuthor | edge camera localization | - |
| dc.subject.keywordAuthor | hierarchical perception planning architecture | - |
| dc.subject.keywordAuthor | mobile robot routing efficiency | - |
| dc.subject.keywordAuthor | multi layer perceptron residual correction | - |
| dc.subject.keywordAuthor | multi objective tsp path planning | - |
| dc.subject.keywordAuthor | robotic waste collection | - |
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Related Researcher
- Seok, Moon Gi
- College of Advanced Convergence Engineering (Department of Computer Science and Artificial Intelligence)