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...

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Detalhes bibliográficos
Autores: Ramisa Ayats, Arnau, Aldavert Miró, David, Vasudeban, Shrihari, Toledo Morales, Ricardo, López de Mantaras, Ramon
Tipo de documento: artigo
Data de publicação:2012
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositório:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglês
OAI Identifier:oai:upcommons.upc.edu:2117/17485
Acesso em linha:https://hdl.handle.net/2117/17485
https://dx.doi.org/10.1007/s10846-012-9675-8
Access Level:Acceso aberto
Palavra-chave: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
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repository_id_str
spelling Evaluation of three vision based object perception methods for a mobile robotRamisa Ayats, ArnauAldavert Miró, DavidVasudeban, ShrihariToledo Morales, RicardoLópez de Mantaras, RamonMobile robots -- Automatic controlcomputer vision mobile robots object detection PARAULES AUTOR: mobile robotsobject recognitionRobots mòbils -- TeledeteccióÀrees temàtiques de la UPC::Informàtica::RobòticaThis 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.Peer Reviewed20122012-01-0120132013-01-23journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/17485https://dx.doi.org/10.1007/s10846-012-9675-8reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/174852026-05-27T15:37:01Z
dc.title.none.fl_str_mv Evaluation of three vision based object perception methods for a mobile robot
title Evaluation of three vision based object perception methods for a mobile robot
spellingShingle Evaluation of three vision based object perception methods for a mobile robot
Ramisa Ayats, Arnau
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
title_short Evaluation of three vision based object perception methods for a mobile robot
title_full Evaluation of three vision based object perception methods for a mobile robot
title_fullStr Evaluation of three vision based object perception methods for a mobile robot
title_full_unstemmed Evaluation of three vision based object perception methods for a mobile robot
title_sort Evaluation of three vision based object perception methods for a mobile robot
dc.creator.none.fl_str_mv Ramisa Ayats, Arnau
Aldavert Miró, David
Vasudeban, Shrihari
Toledo Morales, Ricardo
López de Mantaras, Ramon
author Ramisa Ayats, Arnau
author_facet Ramisa Ayats, Arnau
Aldavert Miró, David
Vasudeban, Shrihari
Toledo Morales, Ricardo
López de Mantaras, Ramon
author_role author
author2 Aldavert Miró, David
Vasudeban, Shrihari
Toledo Morales, Ricardo
López de Mantaras, Ramon
author2_role author
author
author
author
dc.subject.none.fl_str_mv 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
topic 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
description 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.
publishDate 2012
dc.date.none.fl_str_mv 2012
2012-01-01
2013
2013-01-23
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/17485
https://dx.doi.org/10.1007/s10846-012-9675-8
url https://hdl.handle.net/2117/17485
https://dx.doi.org/10.1007/s10846-012-9675-8
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300719

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