ICRA'09 Paper Abstract


Paper FrD3.3

Quigley, Morgan (Stanford University), Batra, Siddharth (Stanford University), Gould, Stephen (Stanford University), Klingbeil, Ellen (Stanford University), Le, Quoc (Stanford University), Wellman, Ashley (Stanford University), Ng, Andrew (Stanford University)

High-Accuracy 3D Sensing for Mobile Manipulation: Improving Object Detection and Door Opening

Scheduled for presentation during the Regular Sessions "Range Sensing - II" (FrD3), Friday, May 15, 2009, 16:10−16:30, Room: 401

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Computer Vision for Robotics and Automation, Mobile Manipulation, Range Sensing


High-resolution 3D scanning can improve the performance of object detection and door opening, two tasks critical to the operation of mobile manipulators in cluttered homes and workplaces. We discuss how high-resolution depth information can be combined with visual imagery to improve the performance of object detection beyond what is (currently) achievable with 2D images alone, and we present door-opening and inventory-taking experiments.



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