Publication
Evaluation of three vision based object perception methods for a mobile robot
Journal Article (2012)
Journal
Journal of Intelligent and Robotic Systems
Pages
185-208
Volume
68
Number
2
Doc link
http://dx.doi.org/10.1007/s10846-012-9675-8
File
Authors
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Ramisa Ayats, Arnau
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Aldavert Miró, David
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Vasudevan, Shrihari
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Toledo Morales, Ricardo
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López de Mántaras, Ramón
Projects associated
Abstract
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.
Categories
computer vision, mobile robots, object detection.
Author keywords
mobile robots, object recognition
Scientific reference
A. Ramisa, D. Aldavert, S. Vasudevan, R. Toledo and R. López de Mántaras. Evaluation of three vision based object perception methods for a mobile robot. Journal of Intelligent and Robotic Systems, 68(2): 185-208, 2012.
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