Integrating Visual and Range Data for Robotic Object Detection - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2008

Integrating Visual and Range Data for Robotic Object Detection

Abstract

The problem of object detection and recognition is a notoriously difficult one, and one that has been the focus of much work in the computer vision and robotics communities. Most work has concentrated on systems that operate purely on visual inputs (i.e., images) and largely ignores other sensor modalities. However, despite the great progress made down this track, the goal of high accuracy object detection for robotic platforms in cluttered real-world environments remains elusive. Instead of relying on information from the image alone, we present a method that exploits the multiple sensor modalities available on a robotic platform. In particular, our method augments a 2-d object detector with 3-d information from a depth sensor to produce a “multi-modal object detector.” We demonstrate our method on a working robotic system and evaluate its performance on a number of common household/office objects.
Fichier principal
Vignette du fichier
1569135672.pdf (711.13 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

inria-00326789 , version 1 (05-10-2008)

Identifiers

  • HAL Id : inria-00326789 , version 1

Cite

Stephen Gould, Paul Baumstarck, Morgan Quigley, Andrew Y. Ng, Daphne Koller. Integrating Visual and Range Data for Robotic Object Detection. Workshop on Multi-camera and Multi-modal Sensor Fusion Algorithms and Applications - M2SFA2 2008, Andrea Cavallaro and Hamid Aghajan, Oct 2008, Marseille, France. ⟨inria-00326789⟩

Collections

M2SFA2
673 View
494 Download

Share

Gmail Facebook Twitter LinkedIn More