ROVIS: robust machine vision for service robotic system FRIEND

Authors:
Sorin M. Grigorescu;Danijela Ristic-Durrant;Axel Gräser
Affiliations:
Institute of Automation, University of Bremen, Bremen, Germany;Institute of Automation, University of Bremen, Bremen, Germany;Institute of Automation, University of Bremen, Bremen, Germany
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 5
Cited 1

Distinctive Image Features from Scale-Invariant Keypoints

International Journal of Computer Vision
Toward humanoid manipulation in human-centred environments

Robotics and Autonomous Systems
System-controlled user interaction within the service robotic control architecture massive

Robotica
An approach for tracking the 3D object pose using two object points

ICVS'08 Proceedings of the 6th international conference on Computer vision systems
Improved SIFT-features matching for object recognition

VoCS'08 Proceedings of the 2008 international conference on Visions of Computer Science: BCS International Academic Conference

Robust camera pose and scene structure analysis for service robotics

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper the vision architecture, named ROVIS, of the robotic system FRIEND is presented. The main concept of the ROVIS is the inclusion of feedback structures between different components of the vision system as well as between the vision and other modules of the robotic system to achieve high robustness against external influences of the individual system units as well as of the system as whole. The novelty of this work lies in the inclusion of feedback control at different levels of the 2D object recognition system to provide reliable inputs to the 3D object reconstruction and object manipulation modules of the robotic system FRIEND. The idea behind this approach is to change the processing parameters in a closed-loop manner so that the current image processing result at a particular processing level is driven to a desired result. The effectiveness of the ROVIS system is demonstrated through the presentation of experimental results on 3D reconstruction of different objects from FRIEND environment.