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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

Shim, Inwook; Shin, Seunghak; Bok, Yunsu; Joo, Kyungdon; Choi, Dong-Geol; Lee, Joon-Young; Park, Jaesik; Oh, Jun-Ho; Kweon, In So

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
URI
https://hdl.handle.net/10371/201324
DOI
https://doi.org/10.1109/ICRA.2016.7487398
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  • College of Engineering
  • Dept. of Computer Science and Engineering
Research Area Computer Graphics, Computer Vision, Machine Learning, Robotics

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