%0 Journal Article %T Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot %A Arnau Ramisa %A David Aldavert %A Shrihari Vasudevan %A Ricardo Toledo %A Ramon Lopez de Mantaras %J Journal of Intelligent and Robotic Systems %D 2012 %V 68 %N 2 %I Springer Netherlands %@ 0921-0296 %F Arnau Ramisa2012 %O ADAS %O exported from refbase (http://refbase.cvc.uab.es/show.php?record=2150), last updated on Thu, 13 Mar 2014 13:24:03 +0100 %X 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. %U http://dx.doi.org/10.1007/s10846-012-9675-8 %P 185-208