DocumentCode
2387291
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
fYear
2009
fDate
12-17 May 2009
Firstpage
2816
Lastpage
2822
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location
Kobe
ISSN
1050-4729
Print_ISBN
978-1-4244-2788-8
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2009.5152750
Filename
5152750
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