Evaluation of three vision based object perception methods for a mobile robot
This paper addresses visual object perception applied to mobile robotics. Being able to perceive household objects in unstructured environments is a key capability in order to make robots suitable to perform complex tasks in home environments. However, finding a solution for this task is daunting: i...
| Autores: | , , , , |
|---|---|
| Tipo de recurso: | artículo |
| Fecha de publicación: | 2012 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/17485 |
| Acceso en línea: | https://hdl.handle.net/2117/17485 https://dx.doi.org/10.1007/s10846-012-9675-8 |
| Access Level: | acceso abierto |
| Palabra clave: | Mobile robots -- Automatic control computer vision mobile robots object detection PARAULES AUTOR: mobile robots object recognition Robots mòbils -- Teledetecció Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | This paper addresses visual object perception applied to mobile robotics. Being able to perceive household objects in unstructured environments is a key capability in order to make robots suitable to perform complex tasks in home environments. However, finding a solution for this task is daunting: it requires the ability to handle the variability in image formation in a moving camera with tight time constraints. The paper brings to attention some of the issues with applying three state of the art object recognition and detection methods in a mobile robotics scenario, and proposes methods to deal with windowing/segmentation. Thus, this work aims at evaluating the state-of-the-art in object perception in an attempt to develop a lightweight solution for mobile robotics use/research in typical indoor settings. |
|---|