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[International Conference] Vision system and depth processing for DRC-HUBO+
IEEE International Conference on Robotics and Automation(ICRA) , May 2016
   https://sites.google.com/site/iwshimcv/home [222]
Abstract
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.

<acknowledgement>
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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