Window detection for gondola robot using a visual camera

Abstract

Maintenance of building façade is a risky operation for human labor. We have researched a robot system that substitutes for human. This robot system requires much intelligence for sensing and control. In this paper, we propose window detection methodologies as a sensing theme. It is essential for robotic façade maintenance. We have two approaches. One is the connected-component labeling, and the other is histogram of row and column direction.