Title :
High-accuracy 3D sensing for mobile manipulation: Improving object detection and door opening
Author :
Quigley, Morgan ; Batra, Siddharth ; Gould, Stephen ; Klingbeil, Ellen ; Le, Quoc ; Wellman, Ashley ; Ng, Andrew Y.
Author_Institution :
Computer Science Department, Stanford University, USA
Abstract :
High-resolution 3D scanning can improve the performance of object detection and door opening, two tasks critical to the operation of mobile manipulators in cluttered homes and workplaces. We discuss how high-resolution depth information can be combined with visual imagery to improve the performance of object detection beyond what is (currently) achievable with 2D images alone, and we present door-opening and inventory-taking experiments.
Keywords :
Cameras; Computer science; Employment; Laser transitions; Layout; Manipulators; Mobile computing; Noise figure; Object detection; Robotics and automation;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152750
