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Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot
Arnau Ramisa, David Aldavert, Shrihari Vasudevan, Ricardo Toledo and Ramon Lopez de Mantaras. 2012. Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot. JIRC, 68(2), 185–208.
This paper addresses visual object perception applied to mobile robotics. Being able to perceive household objects in unstructured environments is a key capability in order to make robots suitable to perform complex tasks in home environments. However, finding a solution for this task is daunting: it requires the ability to handle the variability in image formation in a moving camera with tight time constraints. The paper brings to attention some of the issues with applying three state of the art object recognition and detection methods in a mobile robotics scenario, and proposes methods to deal with windowing/segmentation. Thus, this work aims at evaluating the state-of-the-art in object perception in an attempt to develop a lightweight solution for mobile robotics use/research in typical indoor settings.
Evaluation of Three Vision Based Object Perception Methods for a Mobile RobotArnau RamisaDavid AldavertShrihari VasudevanRicardo ToledoRamon Lopez de Mantarasinfo:doi/10.1007/s10846-012-9675-8openurl:?ctx_ver=Z39.88-2004&rfr_id=info%3Asid%2Frefbase.cvc.uab.es%2F&genre=article&atitle=Evaluation%20of%20Three%20Vision%20Based%20Object%20Perception%20Methods%20for%20a%20Mobile%20Robot&title=Journal%20of%20Intelligent%20and%20Robotic%20Systems&stitle=JIRC&issn=0921-0296&date=2012&volume=68&issue=2&spage=185&epage=208&aulast=Arnau%20Ramisa&au=David%20Aldavert&au=Shrihari%20Vasudevan&au=Ricardo%20Toledo&au=Ramon%20Lopez%20de%20Mantaras&pub=Springer%20Netherlands&id=info%3Adoi%2F10.1007%2Fs10846-012-9675-8&sid=refbase%3ACVCArnau Ramisa, David Aldavert, Shrihari Vasudevan, Ricardo Toledo and Ramon Lopez de Mantaras. 2012. Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot. JIRC, 68(2), 185-208.2012JournalArticletextSpringer Netherlands0921-0296Journal of Intelligent and Robotic Systems2012682185208