NDLI: Robust localization of furniture parts by integrating depth and intensity data suitable for range sensors with varying image quality

Content Provider	IEEE Xplore Digital Library
Author	Meisner, P. Schmidt-Rohr, S.R. Losch, M. Jakel, R. Dillmann, R.
Copyright Year	2011
Description	Author affiliation: Institute of Anthropomatics, Karlsruhe Institute of Technology, 76131 Karlsruhe, Germany (Schmidt-Rohr, S.R.; Losch, M.; Jakel, R.; Dillmann, R.) \|\| FZI - Research Center for Information Technologies, 76131 Karlsruhe, Germany (Meisner, P.)
Abstract	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.
Starting Page	48
Ending Page	54
File Size	560698
Page Count	7
File Format	PDF
ISBN	9781457711589
e-ISBN	9781457711596
DOI	10.1109/ICAR.2011.6088595
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-20
Publisher Place	Estonia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image edge detection Cameras Image color analysis Image segmentation Robot vision systems
Content Type	Text
Resource Type	Article

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