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

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

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
ページ1-7
ページ数7
DOI
出版ステータスPublished - 2011 12 1
イベント2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
継続期間: 2011 12 72011 12 11

出版物シリーズ

名前2011 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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