Luo, Ren (National Taiwan University), Lai, Po-Jen (National Taiwan University), Ee, Vincent Wei Sen (National Taiwan University)

Transparent Object Recognition and Retrieval for Robotic Bio-Laboratory Automation Applications

Scheduled for presentation during the Regular session "Perception for Grasping and Manipulation 2" (ThCT7), Thursday, October 1, 2015, 11:20−11:35, Saal B3

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on December 10, 2019

Abstract

This paper aims to develop a transparent object recognition algorithm which can integrate with visual cues of transparent objects to enhance the retrieval result. Due to the special characteristics of transparent objects, very few vision methods exist to identify them. To achieve our goal, we first use active depth sensor combining with image pre-processing techniques to retrieve transparent candidates. We then propose a transparent candidate classification algorithm using visual cues in color image to further distinguish the transparent ones out of candidates. Experimental results show that our algorithm can achieve good transparent object retrieval results and outperform methods based on depth image. In addition, this algorithm can be integrated with pose estimation methods on robotic bio-laboratory automation applications.