TY - JOUR
T1 - High-accuracy 3D sensing for mobile manipulation
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
AU - Quigley, Morgan
AU - Batra, Siddharth
AU - Gould, Stephen
AU - Klingbeil, Ellen
AU - Le, Quoc
AU - Wellman, Ashley
AU - Ng, Andrew Y.
N1 - Publisher Copyright:
© 2009 IEEE.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=79851506182&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152750
DO - 10.1109/ROBOT.2009.5152750
M3 - Conference article
AN - SCOPUS:79851506182
SN - 1050-4729
SP - 2816
EP - 2822
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
M1 - 5152750
Y2 - 12 May 2009 through 17 May 2009
ER -