6D object localization and obstacle detection for collision-free manipulation with a mobile service robot.
Jens U. KühnleAlexander VerlZhixing XueSteffen W. RuehlJohann Marius ZöllnerRüdiger DillmannThilo GrundmannRobert EidenbergerRaoul Daniel ZöllnerPublished in: ICAR (2009)
Keyphrases
- d objects
- obstacle detection
- service robots
- collision free
- path planning
- autonomous navigation
- stereo vision
- mobile robot
- outdoor environments
- dynamic environments
- ground plane
- motion planning
- human robot interaction
- stereo camera
- viewpoint
- multi view
- three dimensional
- collision avoidance
- object recognition
- multiple views
- pose estimation
- simultaneous localization and mapping
- range data
- indoor environments
- depth information
- object classes
- stereo matching
- humanoid robot
- multi modal
- machine learning
- degrees of freedom
- spatio temporal
- video sequences