Transparent object detection using color image and laser reflectance image for mobile manipulator

2011 ◽  
Author(s):  
Zhong Lei ◽  
Kazunori Ohno ◽  
Masanobu Tsubota ◽  
Eijiro Takeuchi ◽  
Satoshi Tadokoro
Keyword(s):  
Object Detection ◽  
Color Image ◽  
Mobile Manipulator ◽  
Laser Reflectance ◽  
Transparent Object

Dynamic categorization of 3D objects for mobile service robots

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Reyes Rios-Cabrera ◽  
Ismael Lopez-Juarez ◽  
Alejandro Maldonado-Ramirez ◽  
Arturo Alvarez-Hernandez ◽  
Alan de Jesus Maldonado-Ramirez
Keyword(s):  
Object Detection ◽  
Service Robots ◽  
Mobile Manipulator ◽  
Mobile Service ◽  
Content Type ◽  
3D Object ◽  
3D Objects ◽  
Mobile Service Robots ◽  
Context Free ◽  
Context Free Grammars

Purpose This paper aims to present an object detection methodology to categorize 3D object models in an efficient manner. The authors propose a dynamically generated hierarchical architecture to compute very fast objects’ 3D pose for mobile service robots to grasp them. Design/methodology/approach The methodology used in this study is based on a dynamic pyramid search and fast template representation, metadata and context-free grammars. In the experiments, the authors use an omnidirectional KUKA mobile manipulator equipped with an RGBD camera, to localize objects requested by humans. The proposed architecture is based on efficient object detection and visual servoing. In the experiments, the robot successfully finds 3D poses. The present proposal is not restricted to specific robots or objects and can grow as much as needed. Findings The authors present the dynamic categorization using context-free grammars and 3D object detection, and through several experiments, the authors perform a proof of concept. The authors obtained promising results, showing that their methods can scale to more complex scenes and they can be used in future applications in real-world scenarios where mobile robot are needed in areas such as service robots or industry in general. Research limitations/implications The experiments were carried out using a mobile KUKA youBot. Scalability and more robust algorithms will improve the present proposal. In the first stage, the authors carried out an experimental validation. Practical implications The current proposal describes a scalable architecture, where more agents can be added or reprogrammed to handle more complicated tasks. Originality/value The main contribution of this study resides in the dynamic categorization scheme for fast detection of 3D objects, and the issues and experiments carried out to test the viability of the methods. Usually, state-of-the-art treats categories as rigid and make static queries to datasets. In the present approach, there are no fixed categories and they are created and combined on the fly to speed up detection.

scholarly journals Interactive Color Image Segmentation using HSV Color Space

2019 ◽  
Vol 7 (1) ◽  
pp. 37-41
Author(s):  
D. Hema ◽  
◽  
Dr. S. Kannan ◽  
Keyword(s):  
Image Segmentation ◽  
Object Detection ◽  
Color Image ◽  
Research Work ◽  
Color Space ◽  
Color Image Segmentation ◽  
Hsv Color Space ◽  
Space Model ◽  
Detection Algorithms ◽  
Rgb Image

The primary goal of this research work is to extract only the essential foreground fragments of a color image through segmentation. This technique serves as the foundation for implementing object detection algorithms. The color image can be segmented better in HSV color space model than other color models. An interactive GUI tool is developed in Python and implemented to extract only the foreground from an image by adjusting the values for H (Hue), S (Saturation) and V (Value). The input is an RGB image and the output will be a segmented color image.

scholarly journals Transparent object detection and location based on RGB-D camera

2019 ◽  
Vol 1183 ◽  
pp. 012011 ◽  
Author(s):  
Chen Guo-Hua ◽  
Wang Jun-Yi ◽  
Zhang Ai-Jun
Keyword(s):  
Object Detection ◽  
Transparent Object

Non-line-of-sight transparent object detection and reconstruction based on passive single-pixel imaging

2021 ◽  
Vol 18 (2) ◽  
pp. 025204
Author(s):  
Mengdi Li ◽  
Anumol Mathai ◽  
Xiping Xu ◽  
Xin Wang ◽  
Yue Pan ◽  
...  
Keyword(s):  
Object Detection ◽  
Line Of Sight ◽  
Transparent Object ◽  
Single Pixel ◽  
Non Line Of Sight
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