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[International Conference] Vision system and depth processing for DRC-HUBO+
IEEE International Conference on Robotics and Automation(ICRA) , May 2016 [207]
This paper presents a vision system and a depth processing algorithm for DRC-HUBO+, the winner of the DRC finals 2015. Our system is designed to reliably capture 3D information of a scene and objects robust to challenging environment conditions. We also propose a depth-map upsampling method that produces an outliers-free depth map by explicitly handling depth outliers. Our system is suitable for an interactive robot with real-world that requires accurate object detection and pose estimation. We evaluate our depth processing algorithm over
state-of-the-art algorithms on several synthetic and real-world datasets.

This work was supported by Ministry of Trade Industry and Energy of Republic of Korea(MOTIE) (No.10050159) and the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIP) (No.2010-0028680)


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