Title :
Object detection using RGBD data for interactive robotic manipulation
Author_Institution :
Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
We discuss about practical consideration of 3D object detection and pose estimation using an RGBD sensor for interactive robotic manipulation. Template matching based object detection with an RGBD data works good, but it requires further pose refinement for a robot to manipulate it. The pose data can be used to augment a virtual object in the scene so that a user can manipulate it intuitively. In addition, an automatic database collection system is introduced for easier use of this system.
Keywords :
image matching; object detection; pose estimation; robot vision; 3D object detection; RGBD data; RGBD sensor; automatic database collection system; interactive robotic manipulation; pose estimation; pose refinement; template matching; Data models; Databases; Object detection; Robot sensing systems; Solid modeling; Three-dimensional displays; Object detection; database collection; object augmentation; pose refinement;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
DOI :
10.1109/URAI.2014.7057537
