A Tabletop Objects Observation Method from Mobile Robot Using Kinect Sensor

Author

Egawa, T. ; Samejima, Ippei ; Nihei, Yuma ; Kagami, Satoshi ; Mizoguchi, Hiroshi

Author_Institution

Digital Human Res. Center, Nat. Inst. of Adv. Ind. Sci. & Technol., Tokyo, Japan

fYear

2013

fDate

13-16 Oct. 2013

Firstpage

2771

Lastpage

2776

Abstract

Robotic mapping such as two-or three dimensional occupancy grid map has been a field of study. However such occupancy maps are not enough for advanced tasks including object search, object grasping and change detection. We focus on tables and tabletop objects because a table is one of the most important tool in human activity. This paper describes an observation system of tabletop objects based on 3D-sensors and environmental map. We developed a mobile robot equipped with a Velodyne HDL-32E Lidar sensor and a Microsoft Kinect RGB-D sensor.

Keywords

image sensors; mobile robots; object detection; optical radar; path planning; robot vision; 3D sensors; Microsoft Kinect RGB-D sensor; Velodyne HDL-32E LIDAR sensor; change detection; environmental map; human activity; light detection and ranging; mobile robot; object grasping; object search; occupancy grid map; robotic mapping; tabletop objects observation method; Databases; Laser radar; Lasers; Mobile robots; Planning; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on

Conference_Location

Manchester

Type

conf

DOI

10.1109/SMC.2013.473

Filename

6722226