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 |
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Rok vydání: | 2015 |
Předmět: | |
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 |
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