Vision System and Depth Processing for DRC-HUBO

This paper presents a vision system and a depth processing algorithm for DRC-HUBO+, the winner of the DRC finals 2015. Our system is designed to reliably capture 3D information of a scene and objects robust to challenging environment conditions. We also propose a depth-map upsampling method that pro...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2015-09
Main Authors: Shim, Inwook, Shin, Seunghak, Bok, Yunsu, Joo, Kyungdon, Choi, Dong-Geol, Joon-Young, Lee, Park, Jaesik, Jun-Ho, Oh, In So Kweon
Format: Article
Language:English
Subjects:
Algorithms
Interactive systems
Object recognition
Outliers (statistics)
Vision systems
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents a vision system and a depth processing algorithm for DRC-HUBO+, the winner of the DRC finals 2015. Our system is designed to reliably capture 3D information of a scene and objects robust to challenging environment conditions. We also propose a depth-map upsampling method that produces an outliers-free depth map by explicitly handling depth outliers. Our system is suitable for an interactive robot with real-world that requires accurate object detection and pose estimation. We evaluate our depth processing algorithm over state-of-the-art algorithms on several synthetic and real-world datasets.
ISSN:2331-8422