Abstract
Conference Title: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM) Conference Start Date: 2018, July 18 Conference End Date: 2018, July 20 Conference Location: Singapore city, Singapore In order to automate the traditional manual process, in this paper, we demonstrate a visual-based method for sampling floor dust using a mobile microscopic platform. A floor cleaning robot with an onboard microscope is developed and deployed for the task of dust sampling. An extensive experimental study is conducted involving two sets of experiments where the first set involved three different types of sites and the second set involved three different dust types sprinkled on the same type of floor. The acquired 64 sample images from each experiment are stitched together for data logging and review purposes. The results substantiate our proposition of using a robotic platform with an onboard microscope for the automated visual sampling of floor dust. Results of the current study suggest that the proposed robotic platform could provide a viable method for the dust-sampling task in indoor settings.