Development of an object recognition and location system using the Microsoft Kinect™ sensor

Authors:
Jose Figueroa;Luis Contreras;Abel Pacheco;Jesus Savage
Affiliations:
Biorobotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autonoma de Mexico;Biorobotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autonoma de Mexico;Biorobotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autonoma de Mexico;Biorobotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autonoma de Mexico
Venue:
Robot Soccer World Cup XV
Year:
2012

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Abstract

This paper presents the development of an object recognition and location system using the Microsoft Kinect™, an off-the-shelf sensor for videogames console Microsoft Xbox 360™ which is formed by a color camera and depth sensor. This sensor is capable of capturing color images and depth information from a scene. This vision system uses a) data fusion of both color camera and depth sensor to segment objects by distance; b) scale-invariant features to characterize and recognize objects; and c) camera's internal parameters combined with depth information to locate objects relative to the camera point of view. The system will be used along with a robotic arm to grab objects.