Robust manipulability-centric object detection in time-of-flight camera point clouds

Caraian, S; Kirchner, N

Robust manipulability-centric object detection in time-of-flight camera point clouds

Caraian, S Kirchner, N

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2010 Australasian Conference on Robotics and Automation, ACRA 2010, 2010
Issue Date:: 2010-12-01

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Field	Value	Language
dc.contributor.author	Caraian, S	en_US
dc.contributor.author	Kirchner, N https://orcid.org/0000-0002-3018-992X	en_US
dc.date.issued	2010-12-01	en_US
dc.identifier.citation	Proceedings of the 2010 Australasian Conference on Robotics and Automation, ACRA 2010, 2010	en_US
dc.identifier.isbn	9780980740417	en_US
dc.identifier.uri	http://hdl.handle.net/10453/16342
dc.description.abstract	This paper presents a method for robustly identifying the manipulability of objects in a scene based on the capabilities of the manipulator. The method uses a directed histogram search of a time-of-flight camera generated 3D point cloud that exploits the logical connection between objects and the respective supporting surface to facilitate scene segmentation. Once segmented the points above the supporting surface are searched, again with a directed histogram, and potentially manipulatable objects identified. Finally, the manipulatable objects in the scene are identified as those from the potential objects set that are within the manipulators capabilities. It is shown empirically that the method robustly detects the supporting surface with ±15mm accuracy and successfully discriminates between graspable and non-graspable objects in cluttered and complex scenes.	en_US
dc.relation.ispartof	Proceedings of the 2010 Australasian Conference on Robotics and Automation, ACRA 2010	en_US
dc.title	Robust manipulability-centric object detection in time-of-flight camera point clouds	en_US
dc.type	Conference Proceeding
utslib.for	090602 Control Systems, Robotics and Automation	en_US
dc.location.activity	Brisbane, Queensland, Australia	en_US
dc.location.activity	Sydney, Australia
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/DVC (Research)
pubs.organisational-group	/University of Technology Sydney/DVC (Research)/Institute For Sustainable Futures
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

This paper presents a method for robustly identifying the manipulability of objects in a scene based on the capabilities of the manipulator. The method uses a directed histogram search of a time-of-flight camera generated 3D point cloud that exploits the logical connection between objects and the respective supporting surface to facilitate scene segmentation. Once segmented the points above the supporting surface are searched, again with a directed histogram, and potentially manipulatable objects identified. Finally, the manipulatable objects in the scene are identified as those from the potential objects set that are within the manipulators capabilities. It is shown empirically that the method robustly detects the supporting surface with ±15mm accuracy and successfully discriminates between graspable and non-graspable objects in cluttered and complex scenes.

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http://hdl.handle.net/10453/16342