Evaluation of three vision based object perception methods for a mobile robot
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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.
CitationRamisa, A. [et al.]. Evaluation of three vision based object perception methods for a mobile robot. "Journal of intelligent and robotic systems", 2012, vol. 68, núm. 2, p. 185-208.