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Vision System and Depth Processing for DRC-HUBO : Vision system and depth processing for DRC-HUBO+
Cited 3 time in
Web of Science
Cited 6 time in Scopus
- Authors
- Issue Date
- 2016
- Publisher
- IEEE
- Citation
- Proceedings - IEEE International Conference on Robotics and Automation, Vol.2016-June, pp.2456-2463
- Abstract
- This paper presents a vision system and a depth processing algorithm for DRC-HUBO+, the winner of the DRC finals 2015. Our system is designed to reliably capture 3D information of a scene and objects and to be robust to challenging environment conditions. We also propose a depth-map upsampling method that produces an outliers-free depth map by explicitly handling depth outliers. Our system is suitable for robotic applications in which a robot interacts with the real-world, requiring accurate object detection and pose estimation. We evaluate our depth processing algorithm in comparison with state-of-the-art algorithms on several synthetic and real-world datasets.
- ISSN
- 1050-4729
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