Vision System and Depth Processing for DRC-HUBO+
This work addresses reliable 3D scene and object perception for interactive robots like DRC-HUBO+, but it is incremental as it builds on existing depth processing methods.
The paper tackles the problem of capturing 3D information in challenging environments for robots, proposing a vision system and depth processing algorithm that includes an outliers-free depth-map upsampling method, with evaluation showing performance over state-of-the-art algorithms on synthetic and real-world datasets.
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.