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Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot

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Abstract

This paper addresses visual object perception applied to mobile robotics. Being able to perceive household objects in unstructured environments is a key capability in order to make robots suitable to perform complex tasks in home environments. However, finding a solution for this task is daunting: it requires the ability to handle the variability in image formation in a moving camera with tight time constraints. The paper brings to attention some of the issues with applying three state of the art object recognition and detection methods in a mobile robotics scenario, and proposes methods to deal with windowing/segmentation. Thus, this work aims at evaluating the state-of-the-art in object perception in an attempt to develop a lightweight solution for mobile robotics use/research in typical indoor settings.

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Correspondence to Arnau Ramisa.

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Ramisa, A., Aldavert, D., Vasudevan, S. et al. Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot. J Intell Robot Syst 68, 185–208 (2012). https://doi.org/10.1007/s10846-012-9675-8

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  • DOI: https://doi.org/10.1007/s10846-012-9675-8

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