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Combining 3D SLAM and Visual Tracking to Reach and Retrieve Objects in Daily-Life Indoor Environments
https://aist.repo.nii.ac.jp/records/2001868
https://aist.repo.nii.ac.jp/records/20018687a5abdb3-d469-49b1-9355-73a47a926a4e
| Item type | Research Data (v9)(1) | |||||||||||||||
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| PubDate | 2014-01-01 | |||||||||||||||
| Data name | ||||||||||||||||
| Title | Combining 3D SLAM and Visual Tracking to Reach and Retrieve Objects in Daily-Life Indoor Environments | |||||||||||||||
| Language | en | |||||||||||||||
| Description of data | ||||||||||||||||
| Description Type | Abstract | |||||||||||||||
| Description | In this paper, we draw perspectives to endow a humanoid robot with capabilities to reach known object in an indoor environment by combining continuous monitoring and building using SLAM and visual tracking. We integrates and exploits two key features: object recognition using the toolbox BLORT, and a SLAM (Simultaneous Localization And Mapping) software, that unifies volumetric 3D modeling and image-based key-frame modeling to be used in tracking. Using these two modules, we show that it is possible to reach a given object in the environment providing its model is registered and known. Our integration software is exemplified using a humanoid robot HRP-2, we present experimental results that illustrates the performance of our approach. | |||||||||||||||
| Language | en | |||||||||||||||
| Author (Creator) name |
Gergondet Pierre
× Gergondet Pierre
× Petit Damien
× Maxime Meilland
× Kheddar Abderrahmane
× Andrew I. Comport
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| Access Rights | ||||||||||||||||
| Access Rights | open access | |||||||||||||||
| Access Rights URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||||||
| APC | ||||||||||||||||
| APC | Not required | |||||||||||||||
| Rights Holder | ||||||||||||||||
| Right Holder Name | Gergondet Pierre | |||||||||||||||
| Language | en | |||||||||||||||
| Publisher | ||||||||||||||||
| Publisher | IEEE | |||||||||||||||
| Language | en | |||||||||||||||
| Date | ||||||||||||||||
| Date | 2014-01-01 | |||||||||||||||
| Date Type | Issued | |||||||||||||||
| Language | ||||||||||||||||
| Language | eng | |||||||||||||||
| Resource Type | ||||||||||||||||
| Resource Type Identifier | http://purl.org/coar/resource_type/c_6501 | |||||||||||||||
| Resource Type | journal article | |||||||||||||||
| Identifier | ||||||||||||||||
| Identifier | 10.1109/URAI.2014.7057501 | |||||||||||||||
| Identifier Type | DOI | |||||||||||||||
| Relation | ||||||||||||||||
| Relation Type | isVersionOf | |||||||||||||||
| Identifier Type | URI | |||||||||||||||
| Related Identifier | http://ieeexplore.ieee.org/document/7057501/ | |||||||||||||||
| Language | ja | |||||||||||||||
| Related Title | 関連 URI | |||||||||||||||
| Source Title | ||||||||||||||||
| Source Title | International Conference on Ubiquitous Robots and Ambient Intelligence | |||||||||||||||
| Language | en | |||||||||||||||
| Page Start | ||||||||||||||||
| Start Page | 600 | |||||||||||||||
| Page End | ||||||||||||||||
| End Page | 604 | |||||||||||||||
