Object recognition for SLAM in floor environments using a depth sensor

Hee Won Chae, Chansoo Park, Hyejun Yu, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Depth sensors have been increasingly used for object recognition in recent years. However, it is very challenging for simultaneous localization and mapping (SLAM) to make use of the forward scenes from a depth sensor. To this end, we introduce the object recognition framework for SLAM in indoor environments based on the extraction of an object-level descriptor. The proposed object-level descriptor can be obtained based on the surface appearances acquired from a depth sensor without any training. To express the surface normal distribution, a well-known descriptor, fast point feature histogram (FPFH), with a small sampling radius is used to define basic shape elements of a plane, a cylinder and a sphere. The object-level descriptor to recognize the objects can be obtained using these shape elements. Several experiments on arbitrary objects on the floor show the proposed scheme is useful in object recognition and generation of the feature map.

Original languageEnglish
Title of host publication2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages405-410
Number of pages6
ISBN (Electronic)9781509008216
DOIs
Publication statusPublished - 2016 Oct 21
Event13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 - Xian, China
Duration: 2016 Aug 192016 Aug 22

Other

Other13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
CountryChina
CityXian
Period16/8/1916/8/22

Keywords

  • Depth sensor
  • Object recognition
  • SLAM

ASJC Scopus subject areas

  • Modelling and Simulation
  • Artificial Intelligence
  • Control and Optimization

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  • Cite this

    Chae, H. W., Park, C., Yu, H., & Song, J-B. (2016). Object recognition for SLAM in floor environments using a depth sensor. In 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 (pp. 405-410). [7734070] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2016.7734070