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High-Accuracy 3D Sensing for Mobile Manipulation: Improving Object Detection and Door Opening

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

Description

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.

dc.contributor.authorQuigley, Morgan
dc.contributor.authorBatra, Siddharth
dc.contributor.authorGould, Stephen
dc.contributor.authorKlingbeil, Ellen
dc.contributor.authorLe, Quoc Viet
dc.contributor.authorWellman, Ashley
dc.contributor.authorNg, Andrew Y.
dc.coverage.spatialKobe Japan
dc.date.accessioned2015-12-10T22:43:56Z
dc.date.createdMay 12-17 2009
dc.identifier.isbn9781424427895
dc.identifier.urihttp://hdl.handle.net/1885/58383
dc.description.abstractHigh-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.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE International Conference on Robotics and Automation (ICRA 2009)
dc.sourceProceedings of IEEE International Conference on Robotics and Automation (ICRA 2009)
dc.source.urihttp://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5152750&tag=1
dc.titleHigh-Accuracy 3D Sensing for Mobile Manipulation: Improving Object Detection and Door Opening
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2009
local.identifier.absfor080101 - Adaptive Agents and Intelligent Robotics
local.identifier.ariespublicationU3594520xPUB440
local.type.statusPublished Version
local.contributor.affiliationQuigley, Morgan, Stanford University
local.contributor.affiliationBatra, Siddharth, Stanford University
local.contributor.affiliationGould, Stephen, College of Engineering and Computer Science, ANU
local.contributor.affiliationKlingbeil, Ellen, Stanford University
local.contributor.affiliationLe, Quoc Viet, Stanford University
local.contributor.affiliationWellman, Ashley, Stanford University
local.contributor.affiliationNg, Andrew Y., Stanford University
local.description.embargo2037-12-31
local.bibliographicCitation.startpage2816
local.bibliographicCitation.lastpage2822
local.identifier.absseo970108 - Expanding Knowledge in the Information and Computing Sciences
dc.date.updated2015-12-09T11:18:36Z
CollectionsANU Research Publications

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