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Working on building facade 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 facade maintenance robot. The robot system moves on the building facade 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.

Tilted Window Detection for Gondolatyped Facade Robot