Article

Journal of Intelligent & Robotic Systems

, Volume 68, Issue 2, pp 185-208

Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot

  • Arnau RamisaAffiliated withIRI UPC-CSIC Email author 
  • , David AldavertAffiliated withComputer Vision Center, Dept. Ciències de la Computació, Universitat Autònoma de Barcelona
  • , Shrihari VasudevanAffiliated withAustralian Center for Field Robotics, The University of Sydney
  • , Ricardo ToledoAffiliated withComputer Vision Center, Dept. Ciències de la Computació, Universitat Autònoma de Barcelona
  • , Ramon Lopez de MantarasAffiliated withIIIA-CSIC

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Abstract

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.

Keywords

Mobile robots Object recognition

Mathematics Subject Classifications (2010)

68T40 68T45 68T10