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Efficient Waste Collection via Edge Perception and Optimized Mobile Routing
- Lee, Yunseon;
- Lee, Myeonghyeon;
- Park, Kimun;
- Kwon, Dahun;
- Seok, Moon Gi
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0초록
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.
키워드
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
- 제목
- Efficient Waste Collection via Edge Perception and Optimized Mobile Routing
- 저자
- Lee, Yunseon; Lee, Myeonghyeon; Park, Kimun; Kwon, Dahun; Seok, Moon Gi
- 발행일
- 2025
- 유형
- Proceedings Paper
- 저널명
- 2025 International Conference on Metaverse Computing, Networking and Applications (MetaCom)
- 페이지
- 123 ~ 124