6D object localization and obstacle detection for collision-free manipulation with a mobile service robot

The main goal of mobile service robots is to assist human beings in everyday life. Instead of limiting treatment to just artificial, structured lab areas, such systems must in particular be able to operate well in human, unstructured environments. In this paper we present an approach to recognize and localize as well as reliably and robustly manipulate objects in the presence of obstacles. Our method was implemented, fully integrated and presented on the 2009 CeBIT technology show in Hanover, Germany using the experimental robot of the DESIRE project.