TitleEvaluation of Three Vision-Based Object Perception Methods for a Mobile Robotic Platform
Publication TypeJournal Article
Year of Publication2012
AuthorsRamisa A, Aldavert D, Vasudevan S, Toledo R, de Mántaras RLópez
JournalJournal of Intelligent and Robotic Systems

This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a ke capability in order to make robots suitable to perform high-level tasks in home environments. However, finding a solution for this task is daunting: it requires the ability to handle the variability in image formation in a moving camera with tight time constraints. The paper brings to attention some of the issues with applying three state of the art object recognition and detection methods in a mobile robotics scenario, and proposes methods to deal with windowing/segmentation. Thus, this work aims at evaluating the state-of-the-art in object perception in an attempt to develop a lightweight solution for mobile robotics use/research in typical indoor settings.