High-accuracy 3D sensing for mobile manipulation: Improving object detection and door opening

Morgan Quigley; Siddharth Batra; Stephen Gould; Ellen Klingbeil; Quoc Le; Ashley Wellman; Andrew Y. Ng

doi:10.1109/ROBOT.2009.5152750

High-accuracy 3D sensing for mobile manipulation: Improving object detection and door opening

Morgan Quigley
, Siddharth Batra
, Stephen Gould
, Ellen Klingbeil
, Quoc Le
, Ashley Wellman
, Andrew Y. Ng

Research output: Contribution to journal › Conference article › peer-review

76 Citations (Scopus)

Abstract

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.

Original language	English
Article number	5152750
Pages (from-to)	2816-2822
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
DOIs	https://doi.org/10.1109/ROBOT.2009.5152750
Publication status	Published - 2009
Externally published	Yes
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: 12 May 2009 → 17 May 2009

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10.1109/ROBOT.2009.5152750

Cite this

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title = "High-accuracy 3D sensing for mobile manipulation: Improving object detection and door opening",

abstract = "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.",

author = "Morgan Quigley and Siddharth Batra and Stephen Gould and Ellen Klingbeil and Quoc Le and Ashley Wellman and Ng, \{Andrew Y.\}",

note = "Publisher Copyright: {\textcopyright} 2009 IEEE.; 2009 IEEE International Conference on Robotics and Automation, ICRA '09 ; Conference date: 12-05-2009 Through 17-05-2009",

year = "2009",

doi = "10.1109/ROBOT.2009.5152750",

language = "English",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

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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.

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 - https://www.scopus.com/pages/publications/79851506182

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 -

High-accuracy 3D sensing for mobile manipulation: Improving object detection and door opening

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