TY - GEN
T1 - Robust localization of furniture parts by integrating depth and intensity data suitable for range sensors with varying image quality
AU - Meißner, Pascal
AU - Schmidt-Rohr, Sven R.
AU - Lösch, Martin
AU - Jäkel, Rainer
AU - Dillmann, Rüdiger
PY - 2011/12/28
Y1 - 2011/12/28
N2 - In this paper we present an approach to localize planar furniture parts in 3D range camera data for autonomous robot manipulation, that estimates both their six degree of freedom (DoF) poses and their dimensions. Range cameras are a promising sensor category for mobile robotics. Unfortunately, many of them come with a considerable measurement noise, that leads to difficulties when trying to detect objects or their parts e.g. using canonical methods for range image segmentation. In contrast, our approach is able to overcome these issues by combining concepts of 2D and 3D computer vision as well as integrating intensity and depth data on several levels of abstraction. Therefore it is not restricted to range sensors with high image quality and scales on cameras with lower image quality, too. This concept is generic and has been implemented for elliptical object parts as a proof of concept.
AB - In this paper we present an approach to localize planar furniture parts in 3D range camera data for autonomous robot manipulation, that estimates both their six degree of freedom (DoF) poses and their dimensions. Range cameras are a promising sensor category for mobile robotics. Unfortunately, many of them come with a considerable measurement noise, that leads to difficulties when trying to detect objects or their parts e.g. using canonical methods for range image segmentation. In contrast, our approach is able to overcome these issues by combining concepts of 2D and 3D computer vision as well as integrating intensity and depth data on several levels of abstraction. Therefore it is not restricted to range sensors with high image quality and scales on cameras with lower image quality, too. This concept is generic and has been implemented for elliptical object parts as a proof of concept.
UR - http://www.scopus.com/inward/record.url?scp=84255175413&partnerID=8YFLogxK
U2 - 10.1109/ICAR.2011.6088595
DO - 10.1109/ICAR.2011.6088595
M3 - Published conference contribution
AN - SCOPUS:84255175413
SN - 9781457711589
T3 - IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
SP - 48
EP - 54
BT - IEEE 15th International Conference on Advanced Robotics
T2 - IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Y2 - 20 June 2011 through 23 June 2011
ER -