Vision system and depth processing for DRC-HUBO+
Inwook Shim, Seunghak Shin, Yunsu Bok, Kyungdon Joo, Dong-Geol Choi, Joon-Young Lee, Jaesik Park, Jun-Ho Oh
Abstract
This paper presents a vision system and a depth processing algorithm for DRC-HUBO+, the winner of the DRC finals 2015. Our system is designed to reliably capture 3D information of a scene and objects and to be robust to challenging environment conditions. We also propose a depth-map upsampling method that produces an outliers-free depth map by explicitly handling depth outliers. Our system is suitable for robotic applications in which a robot interacts with the real-world, requiring accurate object detection and pose estimation. We evaluate our depth processing algorithm in comparison with state-of-the-art algorithms on several synthetic and real-world datasets.
BibTeX
@inproceedings{icra2016_visionsystemandd,
title = {Vision system and depth processing for DRC-HUBO+},
author = {Inwook Shim and Seunghak Shin and Yunsu Bok and Kyungdon Joo and Dong-Geol Choi and Joon-Young Lee and Jaesik Park and Jun-Ho Oh and In-So Kweon},
booktitle = {ICRA 2016},
year = {2016}
}