Title :
3D segmentation using interval analysis and pre-attentive behaviour for a humanoid robot
Author :
Stasse, Olivier ; Telle, Benoit ; YOKOI, Kazuhito
Author_Institution :
Intelligent Syst. Res. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki
Abstract :
This paper presents a 3D object segmentation algorithm based on dense 3D map provided by a stereoscopic vision system. The novelty of this paper is to use interval analysis for deciding to which region a 3D point should be merged with. This algorithm is used to implement an exploration behaviour on the HRP-2 humanoid robot
Keywords :
humanoid robots; image segmentation; robot vision; 3D object segmentation algorithm; humanoid robot; interval analysis; preattentive behaviour; stereoscopic vision system; Algorithm design and analysis; Computational geometry; Humanoid robots; Intelligent robots; Intelligent systems; Machine vision; Optical filters; Robot sensing systems; Robot vision systems; Service robots;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246278
