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ROBOTICS FOR SMEs - 3D VISION IN REAL-TIME FOR NAVIGATION AND OBJECT RECOGNITION
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-7934-6917
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-5141-7242
2008 (English)In: 39th International Symposium on Robotics, ISR 2008: Proceedings, 2008, p. 70-75Conference paper, Published paper (Refereed)
Abstract [en]

By utilizing the power of hardware we can make a versatile, real-time system capable of both navigation and object gripping, based on basic feature detectors. By using an FPGA together with two cameras we can remove the need for descriptors for navigation by performing what we call spurious matching and the use of 3D landmarks. The approach bypasses the problem of outliers and reduces the time consuming task of data association, which slows many matching algorithms. We also present an approach to object gripping by taking advantage of the full capability of the feature detector.

Place, publisher, year, edition, pages
2008. p. 70-75
Identifiers
URN: urn:nbn:se:mdh:diva-7255Scopus ID: 2-s2.0-84876778104OAI: oai:DiVA.org:mdh-7255DiVA, id: diva2:237265
Conference
39th International Symposium on Robotics, ISR 2008; Seoul; South Korea; 15 October 2008 through 17 October 2008
Available from: 2009-09-25 Created: 2009-09-25 Last updated: 2013-12-19Bibliographically approved

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Ekstrand, FredrikAsplund, Lars

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