Home Furniture Detection by Geometric Characterization by Autonomous Service Robots

Oscar Alonso-Ramirez, Antonio Marin-Hernandez, Homero V. Rios-Figueroa, Michel Devy

Abstract

Service robots are nowadays more and more common on diverse environments. In order to provide useful services, robots must not only identify different objects but also understand their use and be able to extract characteristics that make useful an object. In this work, a framework is presented for recognize home furniture by analyzing geometrical features over point clouds. A fast and efficient method for horizontal and vertical planes detection is presented, based on the histograms of 3D points acquired from a Kinect like sensor onboard the robot. Horizontal planes are recovered according to height distribution on 2D histograms, while vertical planes with a similar approach over a projection on the floor (3D histograms). Characteristics of points belonging to a given plane are extracted in order to match with planes from furniture pieces in a database. Proposed approach has been proved and validated in home like environments with a mobile robotic platform.

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Paper Citation


in Harvard Style

Alonso-Ramirez O., Marin-Hernandez A., Rios-Figueroa H. and Devy M. (2017). Home Furniture Detection by Geometric Characterization by Autonomous Service Robots . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 508-513. DOI: 10.5220/0006478405080513


in Bibtex Style

@conference{icinco17,
author={Oscar Alonso-Ramirez and Antonio Marin-Hernandez and Homero V. Rios-Figueroa and Michel Devy},
title={Home Furniture Detection by Geometric Characterization by Autonomous Service Robots},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={508-513},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006478405080513},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Home Furniture Detection by Geometric Characterization by Autonomous Service Robots
SN - 978-989-758-264-6
AU - Alonso-Ramirez O.
AU - Marin-Hernandez A.
AU - Rios-Figueroa H.
AU - Devy M.
PY - 2017
SP - 508
EP - 513
DO - 10.5220/0006478405080513