Getting on and off an elevator is one of the most important parts for multi-floor navigation of a mobile robot. In this study, we proposed the method for the pose recognition of elevator doors, safe path planning, and motion estimation of a robot using RGB-D sensors in order to safely get on and off the elevator. The accurate pose of the elevator doors is recognized using a particle filter algorithm. After the elevator door is open, the robot builds an occupancy grid map including the internal environments of the elevator to generate a safe path. The safe path prevents collision with obstacles in the elevator. While the robot gets on and off the elevator, the robot uses the optical flow algorithm of the floor image to detect the state that the robot cannot move due to an elevator door sill. The experimental results in various experiments show that the proposed method enables the robot to get on and off the elevator safely.

Abstract
1. 서 론
2. 엘리베이터 문의 위치 인식
    2.1 엘리베이터 샘플 등록
    2.2 엘리베이터 샘플 확산
    2.3 가중치 모델링
    2.4 엘리베이터 샘플 재배열 및 수렴 판단
3. 안전한 승하차
    3.1 안전 승하차 경로계획
    3.2 로봇의 이동 불가 상태 감지
4. 실험 결과
    4.1 엘리베이터 문의 위치인식 실험
    4.2 안전 승하차 실험
5. 결 론
References

• 김지환(Mechanical Engineering, Korea University) | Jihwan Kim
• 정민국(Degree, Mechatronics, Korea University) | Minkuk Jung
• 송재복(Mechanical Engineering, Korea University) | Jae-Bok Song Corresponding author