title: Object detection techniques applied on mobile robot semantic navigation.
abstract: The future of robotics predicts that robots will integrate themselves more every day with human beings and their environments. To achieve this integration, robots need to acquire information about the environment and its objects. There is a big need for algorithms to provide robots with these sort of skills, from the location where objects are needed to accomplish a task up to where these objects are considered as information about the environment. This paper presents a way to provide mobile robots with the ability-skill to detect objets for semantic navigation. This paper aims to use current trends in robotics and at the same time, that can be exported to other platforms. Two methods to detect objects are proposed, contour detection and a descriptor based technique, and both of them are combined to overcome their respective limitations. Finally, the code is tested on a real robot, to prove its accuracy and efficiency.
authors.affiliation: System Engineering and Automation Department, University Carlos III, Av de la Universidad, 30, Madrid 28911, Spain. pato15cr@yahoo.com.
authors.forename: Carlos
authors.initials: C
authors.lastname: Astua
authors.affiliation: System Engineering and Automation Department, University Carlos III, Av de la Universidad, 30, Madrid 28911, Spain. rbarber@ing.uc3m.es.
authors.forename: Ramon
authors.initials: R
authors.lastname: Barber
authors.affiliation: System Engineering and Automation Department, University Carlos III, Av de la Universidad, 30, Madrid 28911, Spain. jocrespo@ing.uc3m.es.
authors.forename: Jonathan
authors.initials: J
authors.lastname: Crespo
authors.affiliation: System Engineering and Automation Department, University Carlos III, Av de la Universidad, 30, Madrid 28911, Spain. ajardon@ing.uc3m.es.
authors.forename: Alberto
authors.initials: A
authors.lastname: Jardon
mesh_terms: D000465:Algorithms; D006801:Humans; D021621:Imaging, Three-Dimensional; D009038:Motion; D010363:Pattern Recognition, Automated / Q000379:methods*; D012371:Robotics; D012660:Semantics
references.citation: Sensors (Basel). 2012;12(5):6695-711
references.pmid: 22778665
references.citation: Psychol Rev. 1987 Apr;94(2):115-147
references.pmid: 3575582