Vision System and Depth Processing for DRC-HUBO+

Autor:	Shim, Inwook, Shin, Seunghak, Bok, Yunsu, Joo, Kyungdon, Choi, Dong-Geol, Lee, Joon-Young, Park, Jaesik, Oh, Jun-Ho, Kweon, In So
Rok vydání:	2015
Předmět:	Computer Science - Computer Vision and Pattern Recognition Computer Science - Robotics
Druh dokumentu:	Working Paper
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:	arXiv
Externí odkaz:	http://arxiv.org/abs/1509.06114 Zobrazit plný text záznamu View this record from Arxiv