Journal article
Towards functional labeling of utility vehicle point clouds for humanoid driving
Intelligent service robotics, v 7(3), pp 133-143
01 Jul 2014
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
We present work on analyzing 3-D point clouds of a small utility vehicle for purposes of humanoid robot driving. The scope of this work is limited to a subset of ingress-related tasks including stepping up into the vehicle and grasping the steering wheel. First, we describe how partial point clouds are acquired from different perspectives using sensors, including a stereo camera and a tilting laser range finder. For finer detail and a larger model than one sensor view alone can capture, a Kinect Fusion (Izadi et al. in KinectFusion: realtime 3D reconstruction and interaction using a moving depth camera, 2011)-like algorithm is used to integrate the stereo point clouds as the sensor head is moved around the vehicle. Second, we discuss how individual sensor views can be registered to the overall vehicle model to provide context, and present methods to estimate both statically and dynamically several geometric parameters critical to motion planning: (1) the floor height and boundaries defined by the seat and the dashboard, and (2) the steering wheel pose and dimensions. Results are compared using the different sensors, and the usefulness of the estimated quantities for motion planning is also addressed.
Metrics
Details
- Title
- Towards functional labeling of utility vehicle point clouds for humanoid driving
- Creators
- Christopher Rasmussen - University of DelawareKarthikeyan Yuvraj - Drexel UniversityRichard Vallett - Drexel UniversityKiwon Sohn - Drexel UniversityPaul Oh - Drexel University
- Publication Details
- Intelligent service robotics, v 7(3), pp 133-143
- Publisher
- Springer Nature
- Number of pages
- 11
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Pennsylvania Fabric Discovery Center
- Web of Science ID
- WOS:000342418400002
- Scopus ID
- 2-s2.0-84904428229
- Other Identifier
- 991019168099504721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Robotics