Transparent object detection using color image and laser reflectance image for mobile manipulator

Zhong Lei, Kazunori Ohno, Masanobu Tsubota, Eijiro Takeuchi, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

It is a significant challenge to detect a transparent object using conventional visual sensors. In this paper, we show that the characteristics of transparent objects under different lighting conditions (normal light and laser light) can be exploited for improved detection accuracy. The authors analyzed the object characteristics and found a novel method for transparent object detection. GrabCut[11] method is used for the image segmentation. However, the transparent object cannot be detected from color or depth images using GrabCut, because transparent objects always shows the color of background. So, we propose a method of transparent object detection using not only color image but also laser reflectance intensity image. Highlight spots from color image can be used for detection candidate areas of transparent objects. These candidate areas is used for GrabCut as bounding rectangle input. Thereafter, segmentation by GrabCut is applied to depth images and laser reflectance intensity images. Bottle-shaped transparent objects are correctly detected within short distance by the visual sensor using the proposed method. In addition, other evaluations show the robustness and the limits of our method for different shapes, materials, distance and background.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages1-7
Number of pages7
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 2011 Dec 72011 Dec 11

Publication series

Name2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period11/12/711/12/11

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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  • Cite this

    Lei, Z., Ohno, K., Tsubota, M., Takeuchi, E., & Tadokoro, S. (2011). Transparent object detection using color image and laser reflectance image for mobile manipulator. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 1-7). [6181253] (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011). https://doi.org/10.1109/ROBIO.2011.6181253