NDLI: Vision-based scene representation for 3D interaction of service robots

Content Provider	IEEE Xplore Digital Library
Author	Kitahama, K. Tsukada, A. Galpin, F. Matsubara, T. Hirano, Y.
Copyright Year	2006
Description	Author affiliation: Toyota Motor Corp., Shizuoka (Kitahama, K.; Tsukada, A.; Galpin, F.; Matsubara, T.; Hirano, Y.)
Abstract	In this paper, we present a new approach for scene understanding by an autonomous robot, using imaging sensors only. Our goal is to build in real-time a 3D representation of the scene which is suitable for further 3D interaction. We assume the scene is composed of a mix of known and unknown objects. We present a strategy to automatically build online a consistent 3D representation from a set computer vision algorithms results. We especially focus on 2 important aspects: the constraints and choices of each parts of the system, as well as the global layout of these parts, and the final step where all information are merged together to build a unique 3D representation. Results on real scene and system performance are finally showed to validate the proposed approach
Starting Page	4756
Ending Page	4761
File Size	368302
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282345
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Layout Service robots Path planning Intelligent robots Robot sensing systems Image sensors Sensor systems Image reconstruction Robustness Scalability volume reconstruction service robot scene representation 3D interaction object recognition
Content Type	Text
Resource Type	Article

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