Title :
A Case Study of Object Identification Using a Kinect Sensor
Author :
Zheng-Yang Huang ; Jung-Tang Huang ; Chih-Ming Hsu
Author_Institution :
Inst. of Autom. Technol., Nat. Taipei Univ. of Technol., Taipei, Taiwan
Abstract :
The RGB camera and LIDAR have been applied in object identification for robots. However, Kinect has changed this situation. Because of the wide use of three-dimensional (3D) processing, the point cloud library (PCL) now enables people to easily use in a 3D environment. Iterative closest point (ICP) is an ideal method for identifying a target, but it involves first reconstructing an object. Therefore, this paper presents an alternative method using geometry of surface for identifying the features of an object and differentiating it from other objects.
Keywords :
computational geometry; feature extraction; image reconstruction; image sensors; iterative methods; object detection; optical radar; robot vision; software libraries; 3D environment; 3D processing; ICP; Kinect sensor; LIDAR; PCL; RGB camera; feature identification; iterative closest point; object identification; object reconstruction; point cloud library; robots; surface geometry; target identification; Iterative closest point algorithm; Laser radar; Object recognition; Robots; Shape; Three-dimensional displays; Tutorials; Kinect; point cloud library (PCL);
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on
Conference_Location :
Manchester
DOI :
10.1109/SMC.2013.300
