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...

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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
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creator Fehr, Duc
Beksi, William J.
Zermas, Dimitris
Papanikolopoulos, Nikolaos
description 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.
doi_str_mv 10.1109/ICRA.2014.6907316
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source IEEE Xplore All Conference Series
subjects Cameras
Mobile robots
Robot kinematics
Robot vision systems
Three-dimensional displays
title Occlusion alleviation through motion using a mobile robot
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