Abstract
RGB-D sensors have become key components of all kind of robotic systems. In this paper we present a perception subsystem for object recognition and pose estimation in RGB-D images. The system is able to recognize many objects at once, disregarding whether they belong to one or many classes. Next to the detailed description of the principle of the system operation we present several off-line and on-line experiments validating the system, including verification in the task of picking up recognized objects with IRp-6 manipulator.
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Acknowledgments
This project was funded by the National Science Centre according to the decision number DEC-2012/05/D/ST6/03097. Tomasz Kornuta is supported by the IBM Research, Almaden through the IBM PostDoc/LTS Programme.
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Kornuta, T., Laszkowski, M. (2016). Perception Subsystem for Object Recognition and Pose Estimation in RGB-D Images. In: Szewczyk, R., ZieliĆski, C., KaliczyĆska, M. (eds) Challenges in Automation, Robotics and Measurement Techniques. ICA 2016. Advances in Intelligent Systems and Computing, vol 440. Springer, Cham. https://doi.org/10.1007/978-3-319-29357-8_52
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DOI: https://doi.org/10.1007/978-3-319-29357-8_52
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