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3D object recognition for anthropomorphic robots performing tracking tasks

dc.contributor.authorSatorres Martínez, Silvia
dc.contributor.authorSánchez García, Alejandro
dc.contributor.authorEstévez Estévez, Elisabet
dc.contributor.authorGómez Ortega, Juan
dc.contributor.authorGámez García, Javier
dc.date.accessioned2025-01-30T07:20:17Z
dc.date.available2025-01-30T07:20:17Z
dc.date.issued2019-07-03
dc.description.abstractObject recognition is still a major research issue of particular relevance in robotics. The new trend in industrial and mainly in service robotics is to perform manipulation tasks in an unstructured environment working in synergy with humans. To perform tasks in an environment that is not perfectly controlled, robots need adequate perceptual capabilities. Among various types of sensors available for robotic systems, the time-of-flight (ToF) camera is one of the most utilized since it simultaneously provides intensity and depth data at a high frame rate. Our proposal makes use of this technology exploiting both, depth and grey-scale information. Therefore, intensity and geometric features are fused together to allow 3D object recognition in real scenes in presence of partial occlusions. As a case study, an object tracking task for an anthropomorphic robot is presented. Experimental results demonstrate the effectiveness of the proposed method, not only providing reliable visual information about the object to be tracked but also recognizing potential obstacles which should be avoided during the robot arm movement.es_ES
dc.identifier.otherhttps://doi.org/10.1007/s00170-019-04058-6es_ES
dc.identifier.urihttps://hdl.handle.net/10953/4524
dc.language.isoenges_ES
dc.publisherSpringeres_ES
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject3D visiones_ES
dc.subjectFeature fusiones_ES
dc.subjectObject recognitiones_ES
dc.subjectTracking taskses_ES
dc.subjectAnthropomorphic robotses_ES
dc.title3D object recognition for anthropomorphic robots performing tracking taskses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.type.versioninfo:eu-repo/semantics/acceptedVersiones_ES

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