Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Object Recognition Method Based on Depth Information for an Indoor Mobile Robot

실내 이동로봇을 위한 거리 정보 기반 물체 인식 방법

  • Park, Jungkil (Division of Electronics and Information Engineering, Chonbuk National University) ;
  • Park, Jaebyung (Division of Electronics and Information Engineering, Chonbuk National University)
  • 박정길 (전북대학교 전자정보공학부) ;
  • 박재병 (전북대학교 전자정보공학부)
  • Received : 2015.02.07
  • Accepted : 2015.09.01
  • Published : 2015.10.01
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Abstract

In this paper, an object recognition method based on the depth information from the RGB-D camera, Xtion, is proposed for an indoor mobile robot. First, the RANdom SAmple Consensus (RANSAC) algorithm is applied to the point cloud obtained from the RGB-D camera to detect and remove the floor points. Next, the removed point cloud is classified by the k-means clustering method as each object's point cloud, and the normal vector of each point is obtained by using the k-d tree search. The obtained normal vectors are classified by the trained multi-layer perceptron as 18 classes and used as features for object recognition. To distinguish an object from another object, the similarity between them is measured by using Levenshtein distance. To verify the effectiveness and feasibility of the proposed object recognition method, the experiments are carried out with several similar boxes.

Keywords

References

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