Visual Data Combination for Object Detection and Localization for Autonomous Robot Manipulation Tasks

摘要

For mobile robot manipulation, autonomous object detection and localization is at the present still an open issue. In this paper is presented a method for detection and localization of simple colored geometric objects like cubes, prisms and cylinders, located over a table. The method proposed uses a passive stereovision system and consists on two steps. The first is colored object detection, where it is used a combination of a color segmentation procedure with an edge detection method, to restrict colored regions. Second step consists on pose recovery; where the merge of the colored objects detection mask is combined with the disparity map coming from stereo camera. Later step is very important to avoid noise inherent to the stereo correlation process. Filtered 3D data is then used to determine the main plane where the objects are posed, the table, and then the footprint is used to localize them in the stereo camera reference frame and then to the world reference frame.