Object Detection Based on Plane Segmentation and Features Matching for a Service Robot
| Main Authors: | António J. R. Neves, Rui Garcia, Paulo Dias, Alina Trifan |
|---|---|
| Format: | Article eJournal |
| Bahasa: | eng |
| Terbitan: |
, 2016
|
| Subjects: | |
| Online Access: |
https://zenodo.org/record/1124017 |
| ctrlnum |
1124017 |
|---|---|
| fullrecord |
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<dc schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/ http://www.openarchives.org/OAI/2.0/oai_dc.xsd"><creator>António J. R. Neves</creator><creator>Rui Garcia</creator><creator>Paulo Dias</creator><creator>Alina Trifan</creator><date>2016-03-01</date><description>With the aging of the world population and the
continuous growth in technology, service robots are more and more
explored nowadays as alternatives to healthcare givers or personal
assistants for the elderly or disabled people. Any service robot
should be capable of interacting with the human companion, receive
commands, navigate through the environment, either known or
unknown, and recognize objects. This paper proposes an approach
for object recognition based on the use of depth information and
color images for a service robot. We present a study on two of the
most used methods for object detection, where 3D data is used to
detect the position of objects to classify that are found on horizontal
surfaces. Since most of the objects of interest accessible for service
robots are on these surfaces, the proposed 3D segmentation reduces
the processing time and simplifies the scene for object recognition.
The first approach for object recognition is based on color histograms,
while the second is based on the use of the SIFT and SURF feature
descriptors. We present comparative experimental results obtained
with a real service robot.</description><identifier>https://zenodo.org/record/1124017</identifier><identifier>10.5281/zenodo.1124017</identifier><identifier>oai:zenodo.org:1124017</identifier><language>eng</language><relation>doi:10.5281/zenodo.1124016</relation><relation>url:https://zenodo.org/communities/waset</relation><rights>info:eu-repo/semantics/openAccess</rights><rights>https://creativecommons.org/licenses/by/4.0/legalcode</rights><subject>Service Robot</subject><subject>Object Recognition</subject><subject>3D Sensors</subject><subject>Plane
Segmentation.</subject><title>Object Detection Based on Plane Segmentation and Features Matching for a Service Robot</title><type>Journal:Article</type><type>Journal:Article</type><recordID>1124017</recordID></dc>
|
| language |
eng |
| format |
Journal:Article Journal Journal:eJournal |
| author |
António J. R. Neves Rui Garcia Paulo Dias Alina Trifan |
| title |
Object Detection Based on Plane Segmentation and Features Matching for a Service Robot |
| publishDate |
2016 |
| topic |
Service Robot Object Recognition 3D Sensors Plane Segmentation |
| url |
https://zenodo.org/record/1124017 |
| contents |
With the aging of the world population and the
continuous growth in technology, service robots are more and more
explored nowadays as alternatives to healthcare givers or personal
assistants for the elderly or disabled people. Any service robot
should be capable of interacting with the human companion, receive
commands, navigate through the environment, either known or
unknown, and recognize objects. This paper proposes an approach
for object recognition based on the use of depth information and
color images for a service robot. We present a study on two of the
most used methods for object detection, where 3D data is used to
detect the position of objects to classify that are found on horizontal
surfaces. Since most of the objects of interest accessible for service
robots are on these surfaces, the proposed 3D segmentation reduces
the processing time and simplifies the scene for object recognition.
The first approach for object recognition is based on color histograms,
while the second is based on the use of the SIFT and SURF feature
descriptors. We present comparative experimental results obtained
with a real service robot. |
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IOS17403.1124017 |
| institution |
Universitas PGRI Palembang |
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189 |
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library:university library |
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Perpustakaan Universitas PGRI Palembang |
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587 |
| collection |
Marga Life in South Sumatra in the Past: Puyang Concept Sacrificed and Demythosized |
| repository_id |
17403 |
| city |
KOTA PALEMBANG |
| province |
SUMATERA SELATAN |
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IOS17403 |
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2022-07-26T04:14:54Z |
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2022-07-26T04:14:54Z |
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