DRC-HUBO+のための視覚システムと深度処理
Vision System and Depth Processing for DRC-HUBO+
DRC優勝ロボットDRC-HUBO+向けに、外れ値に頑健な深度マップ生成と物体検出・姿勢推定を可能にする視覚システムを構築し、既存手法と比較評価した。
著者: Inwook Shim, Seunghak Shin, Yunsu Bok, Kyungdon Joo, Dong-Geol Choi, Joon-Young Lee, Jaesik Park, Jun-Ho Oh, In So Kweon
分類: cs.CV, cs.RO
原文アブストラクト
This paper presents a vision system and a depth processing algorithm for DRC-HUBO+, the winner of the DRC finals 2015. Our system is designed to reliably capture 3D information of a scene and objects robust to challenging environment conditions. We also propose a depth-map upsampling method that produces an outliers-free depth map by explicitly handling depth outliers. Our system is suitable for an interactive robot with real-world that requires accurate object detection and pose estimation. We evaluate our depth processing algorithm over state-of-the-art algorithms on several synthetic and real-world datasets.
