TY - JOUR AU - Arnau Ramisa AU - David Aldavert AU - Shrihari Vasudevan AU - Ricardo Toledo AU - Ramon Lopez de Mantaras PY - 2012// TI - Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot T2 - JIRC JO - Journal of Intelligent and Robotic Systems SP - 185 EP - 208 VL - 68 IS - 2 PB - Springer Netherlands N2 - 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. SN - 0921-0296 UR - http://dx.doi.org/10.1007/s10846-012-9675-8 N1 - ADAS ID - Arnau Ramisa2012 ER -