Tilted Window Detection for Gondolatyped Facade Robot

Abstract

Working on building faade is dangerous. Many accidents have occurred, and many workers have lost their lives. We have researched to apply robot systems to prevent these accidents. In this paper, we purposed an algorithm for sensor system of a gondola-typed building faade maintenance robot. The robot system moves on the building faade autonomously, or by remote control. Therefore, window area detection is important for painting of the gondola system. For robust and accurate detection, the proposed algorithm was designed for tilted windows.