Cart (Loading....) | Create Account
Close category search window

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

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

5 Author(s)

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.

Published in:

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Date of Conference:

7-11 Dec. 2011

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.