High-accuracy 3D sensing for mobile manipulation: improving object detection and door opening

Authors:
Morgan Quigley;Siddharth Batra;Stephen Gould;Ellen Klingbeil;Quoc Le;Ashley Wellman;Andrew Y. Ng
Affiliations:
Computer Science Department, Stanford University;Computer Science Department, Stanford University;Computer Science Department, Stanford University;Computer Science Department, Stanford University;Computer Science Department, Stanford University;Computer Science Department, Stanford University;Computer Science Department, Stanford University
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

High-resolution 3D scanning can improve the performance of object detection and door opening, two tasks critical to the operation of mobile manipulators in cluttered homes and workplaces. We discuss how high-resolution depth information can be combined with visual imagery to improve the performance of object detection beyond what is (currently) achievable with 2D images alone, and we present door-opening and inventory-taking experiments.