Detailed Information
Cited 0 time in 
Cited 0 time in 
Cited 0 time in
Metadata Downloads
Efficient Waste Collection via Edge Perception and Optimized Mobile Routingopen access
- Issue Date
- 2025
- Publisher
- IEEE
- Keywords
- depth aware pose refinement; edge camera localization; hierarchical perception planning architecture; mobile robot routing efficiency; multi layer perceptron residual correction; multi objective tsp path planning; robotic waste collection
- Citation
- 2025 International Conference on Metaverse Computing, Networking and Applications (MetaCom), pp 123 - 124
- Pages
- 2
- Indexed
- FOREIGN
- Journal Title
- 2025 International Conference on Metaverse Computing, Networking and Applications (MetaCom)
- Start Page
- 123
- End Page
- 124
- 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.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - ETC > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
Related Researcher
- Seok, Moon Gi
- College of Advanced Convergence Engineering (Department of Computer Science and Artificial Intelligence)