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Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments

Autor
Alenyà, G.; Foix, S.; Torras, C.
Tipus d'activitat
Article en revista
Revista
Intelligent service robotics
Data de publicació
2014-10-01
Volum
7
Número
4
Pàgina inicial
211
Pàgina final
220
DOI
https://doi.org/10.1007/s11370-014-0159-5 Obrir en finestra nova
Projecte finançador
2009SGR155 ROBÒTICA: Grup de recerca consolidat - Grup de Robòtica
Percepción y acción en problemas de robótica con espacios de estados grandes (DPI2011-27510)
Repositori
http://hdl.handle.net/2117/27800 Obrir en finestra nova
URL
http://link.springer.com/article/10.1007%2Fs11370-014-0159-5 Obrir en finestra nova
Resum
Robots, traditionally confined into factories, are nowadays moving to domestic and assistive environments, where they need to deal with complex object shapes, deformable materials, and pose uncertainties at human pace. To attain quick 3D perception, new cameras delivering registered depth and intensity images at a high frame rate hold a lot of promise, and therefore many robotics researchers are now experimenting with structured-light RGBD and Time-of-Flight (ToF) cameras. In this paper both tec...
Citació
Alenyà, G.; Foix, S.; Torras, C. Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments. "Intelligent Service Robotics", 01 Octubre 2014, vol. 7, núm. 4, p. 211-220.
Paraules clau
Close distance perception, Complex object shapes, Deformable objects, INDOOR, Manipulation in human environments, SENSORS, TIME-OF-FLIGHT, Time-of-flight cameras
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI

Participants