Occlusion alleviation through motion using a mobile robot

Object segmentation and classification is an important and difficult task in robotic vision. The task is complicated even further when the different objects are partially or completely occluded. Allowing a robot to take measurements from varying points of view can help in alleviating or completely r...

Full description

Saved in:
Bibliographic Details
Main Authors: Fehr, Duc, Beksi, William J., Zermas, Dimitris, Papanikolopoulos, Nikolaos
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Mobile robots
Robot kinematics
Robot vision systems
Three-dimensional displays
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Object segmentation and classification is an important and difficult task in robotic vision. The task is complicated even further when the different objects are partially or completely occluded. Allowing a robot to take measurements from varying points of view can help in alleviating or completely removing occlusions. A robot equipped with an RGB-D sensor has the capability of searching for new and better points of view to facilitate object recognition. In this work, a motion control algorithm is designed and implemented on a mobile robot to facilitate object classification in RGB-D data of clustered objects.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2014.6907316