A Case Study of Object Identification Using a Kinect Sensor

Author

Zheng-Yang Huang ; Jung-Tang Huang ; Chih-Ming Hsu

Author_Institution

Inst. of Autom. Technol., Nat. Taipei Univ. of Technol., Taipei, Taiwan

fYear

2013

fDate

13-16 Oct. 2013

Firstpage

1743

Lastpage

1747

Abstract

The RGB camera and LIDAR have been applied in object identification for robots. However, Kinect has changed this situation. Because of the wide use of three-dimensional (3D) processing, the point cloud library (PCL) now enables people to easily use in a 3D environment. Iterative closest point (ICP) is an ideal method for identifying a target, but it involves first reconstructing an object. Therefore, this paper presents an alternative method using geometry of surface for identifying the features of an object and differentiating it from other objects.

Keywords

computational geometry; feature extraction; image reconstruction; image sensors; iterative methods; object detection; optical radar; robot vision; software libraries; 3D environment; 3D processing; ICP; Kinect sensor; LIDAR; PCL; RGB camera; feature identification; iterative closest point; object identification; object reconstruction; point cloud library; robots; surface geometry; target identification; Iterative closest point algorithm; Laser radar; Object recognition; Robots; Shape; Three-dimensional displays; Tutorials; Kinect; point cloud library (PCL);

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on

Conference_Location

Manchester

Type

conf

DOI

10.1109/SMC.2013.300

Filename

6722053