Range image-based object detection and localization for HERMIES III mobile robot

John C. Sluder; Clint R. Bidlack; Mongi A. Abidi; Mohan M. Trivedi; Judson P. Jones; Frank J. Sweeney

doi:10.1117/12.45505

1 March 1991 Range image-based object detection and localization for HERMIES III mobile robot

John C. Sluder, Clint R. Bidlack, Mongi A. Abidi, Mohan M. Trivedi, Judson P. Jones, Frank J. Sweeney

Proceedings Volume 1468, Applications of Artificial Intelligence IX; (1991) https://doi.org/10.1117/12.45505
Event: Orlando '91, 1991, Orlando, FL, United States

Abstract

Range images can provide very useful information for operating robotic systems in cluttered and dynamic environments. Development of an integrated mobile robotic system which can acquire, process, analyze and perform actions based upon such analysis, in real time, involves the resolution of many complex issues. In this paper we describe research activities to demonstrate development and operation of an autonomous mobile robotic system capable of detecting 55 gallon drums in range images, and then performing complex radiation survey tasks on the detected drums. The robot must perform tasks such as precision navigation with crabbing, object identification and localization, docking with the located object, and scanning of the object for radiation. The processing of range data involved five steps: (1) correction of the cosine effect, (2) image filtering, (3) calculation of surface normals, (4) image segmentation, and (5) object recognition and localization. The results of the range processing procedures are presented. The novelty of the techniques is that they are being adapted, combined, and applied to real data obtained form a sensor-based mobile robot in a cluttered environment. Experimental results demonstrating the robustness of the approach on real range data are presented. We also present some experimental results of a Geometric Modeling and Sensor Simulation System for generating synthetic range imagery using 3D world models.

Citation Download Citation

John C. Sluder, Clint R. Bidlack, Mongi A. Abidi, Mohan M. Trivedi, Judson P. Jones, and Frank J. Sweeney "Range image-based object detection and localization for HERMIES III mobile robot", Proc. SPIE 1468, Applications of Artificial Intelligence IX, (1 March 1991); https://doi.org/10.1117/12.45505

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