Algorithm 1: Algorithm for door handle detection and cleaning

1: Input:

2: Image capture from RGBD module

3: Output:

4: enable signal to cleaning module

5: Initialize:

6: F is an Image frame

7: $detection\_result:$ is an variable hold the object detection results

8: D: is an variable

9: Initialize End

10: Begin:

11: while (1) do

12: search:

13: F = capture Image (C)

14: $detection\_result$= CNN_Object_ detection(F)

15: if ($detection\_result$ == $doorhandle|door$) then

16:  D=distance_function(door_robot base) ; compute the distance between door and robot base

17:  Move_base(MoveIt(D)) ; move towards door using distance data

18:  goto $alignment\_check$

19: else

20:  goto: search

21: end if

22: $alignment\_check:$

23: if ($detection\_result$ == $doorhandle$) then

24:  $arm\_manipulation$ (MoveIt) ; enable the arm manipulation to initiate the door handle cleaning

25:  goto: cleaning _enable

26: else

27:  base_align( base_movement ) ; adjust the robot base for searching the door handle if door is detect on first frame

28:  F = capture Image (C)

29:  D = CNN_Object_ detection(F)

30:  goto: alignment_check

31: end if

32: $cleaning\_enable:$

33: if ($ARM\_synchronize$ && $door\_handle\_detected$) then

34:  enable_cleaning module (1) ; enable the cleaning module if ARM position is synchronize with door handle

35:  wait (cleaning_ done)

36: else

37:  ARM_synchronize( enable_arm manipulation(MoveIt)) ; enable the arm manipulation function for synchronize arm position with door handle

38:  F = capture Image (C)

39:  goto: $cleanin{g}_{e}nable$

40: end if

41: end while