Occlusion alleviation through motion using a mobile robot

Duc Fehr; William J. Beksi; Dimitris Zermas; Nikolaos Papanikolopoulos

doi:10.1109/ICRA.2014.6907316

Occlusion alleviation through motion using a mobile robot

Duc Fehr, William J. Beksi, Dimitris Zermas, Nikolaos Papanikolopoulos

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

Object segmentation and classification is an important and difficult task in robotic vision. The task is complicated even further when the different objects are partially or completely occluded. Allowing a robot to take measurements from varying points of view can help in alleviating or completely removing occlusions. A robot equipped with an RGB-D sensor has the capability of searching for new and better points of view to facilitate object recognition. In this work, a motion control algorithm is designed and implemented on a mobile robot to facilitate object classification in RGB-D data of clustered objects.

Original language	English (US)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3179-3184
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907316
State	Published - Sep 22 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	5/31/14 → 6/7/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

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10.1109/ICRA.2014.6907316

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Fehr, D., Beksi, W. J., Zermas, D., & Papanikolopoulos, N. (2014). Occlusion alleviation through motion using a mobile robot. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3179-3184). Article 6907316 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907316

Occlusion alleviation through motion using a mobile robot. / Fehr, Duc; Beksi, William J.; Zermas, Dimitris et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3179-3184 6907316 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Fehr, D, Beksi, WJ, Zermas, D & Papanikolopoulos, N 2014, Occlusion alleviation through motion using a mobile robot. in Proceedings - IEEE International Conference on Robotics and Automation., 6907316, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3179-3184, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 5/31/14. https://doi.org/10.1109/ICRA.2014.6907316

Fehr D, Beksi WJ, Zermas D, Papanikolopoulos N. Occlusion alleviation through motion using a mobile robot. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 3179-3184. 6907316. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907316

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Occlusion alleviation through motion using a mobile robot

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