Humanoid robots have had significant research interest in the past two decades. Their classification as mobile manipulators allows them to work in unstructured environments creating new possibilities for human-robot interaction. Object grasping and manipulation are essential and enabling capabilities for mobile humanoid robots that require reliable perception. This paper presents a perception approach using depth images from an RGB-D camera to estimate the work plane and estimate object positions relative to the robot. Results from experiments with a set of object shapes and scenarios are presented.


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    Title :

    A Humanoid Robot Object Perception Approach Using Depth Images


    Contributors:


    Publication date :

    2019-07-01


    Size :

    5492828 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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