Abstract
This paper presents the development of an object recognition and location system using the Microsoft KinectTM, an off-the-shelf sensor for videogames console Microsoft Xbox 360TM which is formed by a color camera and depth sensor. This sensor is capable of capturing color images and depth information from a scene. This vision system uses a) data fusion of both color camera and depth sensor to segment objects by distance; b) scale-invariant features to characterize and recognize objects; and c) camera’s internal parameters combined with depth information to locate objects relative to the camera point of view. The system will be used along with a robotic arm to grab objects.
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This work was supported by PAPIIT-DGAPA UNAM under Grant IN-107609.
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Figueroa, J., Contreras, L., Pacheco, A., Savage, J. (2012). Development of an Object Recognition and Location System Using the Microsoft KinectTM Sensor. In: Röfer, T., Mayer, N.M., Savage, J., Saranlı, U. (eds) RoboCup 2011: Robot Soccer World Cup XV. RoboCup 2011. Lecture Notes in Computer Science(), vol 7416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32060-6_37
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DOI: https://doi.org/10.1007/978-3-642-32060-6_37
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