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Título

Evaluation of three vision based object perception methods for a mobile robot

Autor Ramisa, Arnau; Aldavert, David; Vasudevan, Shrihari; Toledo, Ricardo; Lopez de Mantaras, Ramon
Palabras clave Mobile robots
Object recognition
Fecha de publicación 2012
EditorSpringer
Citación Journal of Intelligent and Robotic Systems 68(2): 185-208 (2012)
ResumenThis 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. © Springer Science+Business Media B.V. 2012.
Versión del editorhttp://dx.doi.org/10.1007/s10846-012-9675-8
URI http://hdl.handle.net/10261/96499
DOI10.1007/s10846-012-9675-8
Identificadoresdoi: 10.1007/s10846-012-9675-8
issn: 0921-0296
e-issn: 1573-0409
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