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Authors: Oscar Alonso-Ramirez 1 ; Antonio Marin-Hernandez 1 ; Homero V. Rios-Figueroa 1 and Michel Devy 2

Affiliations: 1 Universidad Veracruzana, Mexico ; 2 Université de Toulouse, France

Keyword(s): Service Robots, Furniture Detection.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation ; Vision, Recognition and Reconstruction

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.

CC BY-NC-ND 4.0

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 508-513. DOI: 10.5220/0006478405080513

@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},
issn={2184-2809},
}

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
IS - 2184-2809
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
PB - SciTePress

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