TY - GEN
T1 - Efficient Waste Collection via Edge Perception and Optimized Mobile Routing
AU - Lee, Yunseon
AU - Lee, Myeonghyeon
AU - Park, Kimun
AU - Kwon, Dahun
AU - Seok, Moon Gi
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - 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.
AB - 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.
KW - depth aware pose refinement
KW - edge camera localization
KW - hierarchical perception planning architecture
KW - mobile robot routing efficiency
KW - multi layer perceptron residual correction
KW - multi objective tsp path planning
KW - robotic waste collection
UR - https://www.scopus.com/pages/publications/105020813506
U2 - 10.1109/MetaCom65502.2025.00027
DO - 10.1109/MetaCom65502.2025.00027
M3 - Conference contribution
AN - SCOPUS:105020813506
T3 - Proceedings - 2025 International Conference on Metaverse Computing, Networking and Applications, MetaCom 2025
SP - 123
EP - 124
BT - Proceedings - 2025 International Conference on Metaverse Computing, Networking and Applications, MetaCom 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Conference on Metaverse Computing, Networking and Applications, MetaCom 2025
Y2 - 27 August 2025 through 29 August 2025
ER -