Object detection in robotic applications for real-time localization using semi-unknown objects
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review
Details
| Original language | English |
|---|---|
| Title of host publication | International Conference on Telecommunications and Signal Processing (TSP) |
| Publisher | IEEE |
| Pages | 682-687 |
| Number of pages | 6 |
| ISBN (Print) | 978-1-5090-3982-1 |
| DOIs | |
| Publication status | Published - 1 Jul 2017 |
| Publication type | A4 Article in a conference publication |
| Event | International Conference on Telecommunications and Signal Processing - Duration: 1 Jan 2000 → … |
Conference
| Conference | International Conference on Telecommunications and Signal Processing |
|---|---|
| Period | 1/01/00 → … |
Abstract
We investigate the pose estimation of a semi-unknown object for stereo-vision-based navigation of a mobile manipulator. A new computationally fast vision algorithm is developed to extract the object's pose at a high rate from the captured scenes. Moreover, we present a method to deal with range dependent noise characteristics of the stereo vision to fulfill requirements for mobile manipulation tasks. As shown, a smoothed, high-bandwidth feedback is obtained by using robust real-time estimation, where special care is taken to accommodate the aforementioned nonlinearities of the stereo vision. This way, the manipulator is capable of positioning itself in the close vicinity of an object by navigation of its nonholonomic mobile base. Importantly, we achieve nearly the same accuracy in mobile robot positioning compared to standard marker-based techniques at distances greater than those typically considered suitable for position-based, high-bandwidth motion control within the robotics community.
Keywords
- control nonlinearities, feature extraction, manipulators, mobile robots, motion control, object detection, path planning, pose estimation, position control, robot vision, robust control, stereo image processing, high-bandwidth feedback, high-bandwidth motion control, mobile manipulation tasks, mobile manipulator, mobile robot positioning, nonholonomic mobile base, nonlinearities, object pose extraction, range dependent noise characteristics, real-time localization, robotic applications, robust real-time estimation, semiunknown object, stereo-vision-based navigation, Cameras, Mobile communication, Object detection, Pose estimation, Real-time systems, Service robots, autonomous robot, computer vision, real time, stereo vision