By Topic

Online collision and occlusion detection based on 3D Cuboid Maps for a daily assistive robot with a tilting LRF

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Yamazaki, K. ; Grad. Sch. of Info. Sci. & Tech., Univ. of Tokyo, Tokyo, Japan ; Inaba, M. ; Mori, T. ; Yamamoto, T.

This paper describes about online collision and occlusion detection for a daily assistive robot. It is assumed that 3D map about around environment is constructed by collecting datasets gradually measured using a Laser RangeFinder mounted on a tilting platform, we develop an approach to detect collision and occlusion based on the 3D map while a robot tries to manipulate objects in daily environment. As the map representation, Time-series Composite Cuboid Map is proposed. It copes with temporal sequence explicitly, and map updating is efficiently performed. Several experiments on the assumption of daily assistance by a robot, we show the effectiveness of our approach.

Published in:

Mechatronics and Automation (ICMA), 2011 International Conference on

Date of Conference:

7-10 Aug. 2011