Vision System and Depth Processing for DRC-HUBO+
| Autor: | Kyungdon Joo, Jaesik Park, Seunghak Shin, Joon-Young Lee, Dong-Geol Choi, Jun-Ho Oh, In So Kweon, Yunsu Bok, Inwook Shim |
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| Rok vydání: | 2015 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology business.industry Computer science Machine vision Computer Vision and Pattern Recognition (cs.CV) Computer Science - Computer Vision and Pattern Recognition 02 engineering and technology Object detection Upsampling Computer Science - Robotics 020901 industrial engineering & automation Depth map Outlier 0202 electrical engineering electronic engineering information engineering Robot HUBO 020201 artificial intelligence & image processing Computer vision Artificial intelligence business Pose Robotics (cs.RO) |
| Zdroj: | ICRA |
| DOI: | 10.48550/arxiv.1509.06114 |
| Popis: | 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. Comment: submitted in ICRA 2016 |
| Databáze: | OpenAIRE |
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