3D Transparent Object Recognition for Service Robotics
Date Issued
2015
Date
2015
Author(s)
Lai, Po-Jen
Abstract
With the advancement of technology, the trend to make our lives more convenient by robot technology is unstoppable. In the future, many service robots will enter our living environments to do all kind of tasks from pouring milk for us in our home to serve water in restaurants. In our living environment, there are lots of transparent objects including cups made of glass, PET bottles and glass doors. If a robot who serve in our environment cannot recognize transparent objects, it might easily broke the transparent objects made by glass, it might not be able to open the door made of glass, it might bump into and broke glass windows and cause danger. As a result, we propose algorithms that make a robot be able to recognize and estimate the pose of transparent objects in this thesis. We emphasize on transparent object recognition because pose estimation and manipulation for non-transparent objects are relatively mature, while research on transparent object recognition just starts from a decade ago with a few papers discussing this problem. If we can develop effective algorithm for recognizing transparent object, we can take advantage of pose estimation and grasping for non-transparent object to build a complete system for grasping transparent objects. For recognizing transparent object, we discuss three methods in this thesis. The first method which uses RGBD sensor to detect the transparent object is mainly used because the result is suitable for pose estimation. With the stored 3D model of transparent object and the silhouettes of transparent object, we can estimate the pose by matching the model and the silhouette. Experiments show that our method can be used to detect and estimate the pose of transparent objects.
Subjects
Service Robotics
Transparent Object Recognition
Pose Estimation
Robot Operating System
Type
thesis
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