Paper Info
Title
Creating household environment map for environment manipulation using color range sensors on environment and robot
Abstract
A humanoid robot working in a household environment with people needs to localize and continuously update the locations of obstacles and manipulable objects. Achieving such system, requires strong perception method to efficiently update the frequently changing environment. We propose a method for mapping a household environment using multiple stereo and depth cameras located on the humanoid head and the environment. The method relies on colored 3D point cloud data computed from the sensors. We achieve robot localization by matching the point clouds from the robot sensor data directly with the environment sensor data. Object detection is performed using Iterative Closest Point (ICP) with a database of known point cloud models. In order to guarantee accurate object detection results, objects are only detected within the robot sensor data. Furthermore, we utilize the environment sensor data to map out of the obstacles as bounding convex hulls. We show experimental results creating a household environment map with known object labels and estimate the robot position in this map.
Year
DOI
Venue
2011
10.1109/ICRA.2011.5980522
Robotics and Automation
Keywords
DocType
Volume
SLAM (robots),cameras,collision avoidance,humanoid robots,image colour analysis,image matching,iterative methods,object detection,robot vision,sensors,stereo image processing,visual perception,color range sensors,colored 3D point cloud data,depth cameras,environment manipulation,household environment sensor data,humanoid head,humanoid robot,iterative closest point,object detection,point cloud matching,robot localization,robot position estimation,robot sensor data,stereo cameras
Conference
2011
Issue
ISSN
ISBN
1
1050-4729
978-1-61284-386-5
Citations 
PageRank 
References 
3
0.46
10
Authors
4
Name
Order
Citations
PageRank
Youhei Kakiuchi1225.69
Ryohei Ueda2687.98
Kei Okada3534118.08
Masayuki Inaba42186410.27