The Vision System of the ACROBOTER Project

Rigas Kouskouridas; Nikolaos Kyriakoulis; Dimitrios Chrysostomou; Vasileios Belagiannis; Spyridon G Mouroutsos; Antonios Gasteratos

doi:10.1007/978-3-642-10817-4_94

The Vision System of the ACROBOTER Project

Rigas Kouskouridas, Nikolaos Kyriakoulis, Dimitrios Chrysostomou, Vasileios Belagiannis, Spyridon G Mouroutsos, Antonios Gasteratos

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

1 Citation (Scopus)

Abstract

The ACROBOTER project aims to develop a radically new
locomotion technology that can eectively be used in a home and/or in
a workplace environment for manipulating small objects autonomously.
It extends the workspace of existing indoor service robots in the vertical
direction, whilst its novel structure allows covering the whole volume of
a room. For the adequate accomplishment of demanding manipulating
tasks, its vision system must provide vital visual information concerning
the position of the robot in the 3D working space and the topology of
possible objects/obstacles in robot's trajectory. Thus, the proposed system
is capable of: estimating robot's pose in the room; reconstruct the 3D
working space and; recognize objects with remarkable eciency. In this
work, initially, we present the basic structure of ACROBOTER and its
vision system and, we also evaluate the aforementioned functions.

Original language	English
Title of host publication	Proceedings of the 2nd International Conference on Intelligent Robotics and Applications (ICIRA '09)
Number of pages	9
Volume	5928
Publisher	Springer
Publication date	1 Dec 2009
Pages	957 - 966
ISBN (Electronic)	978-3-642-10817-4
DOIs	https://doi.org/10.1007/978-3-642-10817-4_94
Publication status	Published - 1 Dec 2009
Externally published	Yes

Keywords

Pose Estimation
3D reconstruction
Object Recognition
Vision Systems

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10.1007/978-3-642-10817-4_94

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title = "The Vision System of the ACROBOTER Project",

abstract = "The ACROBOTER project aims to develop a radically newlocomotion technology that can eectively be used in a home and/or ina workplace environment for manipulating small objects autonomously.It extends the workspace of existing indoor service robots in the verticaldirection, whilst its novel structure allows covering the whole volume ofa room. For the adequate accomplishment of demanding manipulatingtasks, its vision system must provide vital visual information concerningthe position of the robot in the 3D working space and the topology ofpossible objects/obstacles in robot's trajectory. Thus, the proposed systemis capable of: estimating robot's pose in the room; reconstruct the 3Dworking space and; recognize objects with remarkable eciency. In thiswork, initially, we present the basic structure of ACROBOTER and itsvision system and, we also evaluate the aforementioned functions.",

keywords = "Pose Estimation, 3D reconstruction, Object Recognition, Vision Systems",

author = "Rigas Kouskouridas and Nikolaos Kyriakoulis and Dimitrios Chrysostomou and Vasileios Belagiannis and Mouroutsos, {Spyridon G} and Antonios Gasteratos",

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doi = "10.1007/978-3-642-10817-4_94",

language = "English",

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The Vision System of the ACROBOTER Project. / Kouskouridas, Rigas; Kyriakoulis, Nikolaos; Chrysostomou, Dimitrios et al.
Proceedings of the 2nd International Conference on Intelligent Robotics and Applications (ICIRA '09). Vol. 5928 Springer, 2009. p. 957 - 966.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - The Vision System of the ACROBOTER Project

AU - Kouskouridas, Rigas

AU - Kyriakoulis, Nikolaos

AU - Chrysostomou, Dimitrios

AU - Belagiannis, Vasileios

AU - Mouroutsos, Spyridon G

AU - Gasteratos, Antonios

PY - 2009/12/1

Y1 - 2009/12/1

N2 - The ACROBOTER project aims to develop a radically newlocomotion technology that can eectively be used in a home and/or ina workplace environment for manipulating small objects autonomously.It extends the workspace of existing indoor service robots in the verticaldirection, whilst its novel structure allows covering the whole volume ofa room. For the adequate accomplishment of demanding manipulatingtasks, its vision system must provide vital visual information concerningthe position of the robot in the 3D working space and the topology ofpossible objects/obstacles in robot's trajectory. Thus, the proposed systemis capable of: estimating robot's pose in the room; reconstruct the 3Dworking space and; recognize objects with remarkable eciency. In thiswork, initially, we present the basic structure of ACROBOTER and itsvision system and, we also evaluate the aforementioned functions.

AB - The ACROBOTER project aims to develop a radically newlocomotion technology that can eectively be used in a home and/or ina workplace environment for manipulating small objects autonomously.It extends the workspace of existing indoor service robots in the verticaldirection, whilst its novel structure allows covering the whole volume ofa room. For the adequate accomplishment of demanding manipulatingtasks, its vision system must provide vital visual information concerningthe position of the robot in the 3D working space and the topology ofpossible objects/obstacles in robot's trajectory. Thus, the proposed systemis capable of: estimating robot's pose in the room; reconstruct the 3Dworking space and; recognize objects with remarkable eciency. In thiswork, initially, we present the basic structure of ACROBOTER and itsvision system and, we also evaluate the aforementioned functions.

KW - Pose Estimation

KW - 3D reconstruction

KW - Object Recognition

KW - Vision Systems

U2 - 10.1007/978-3-642-10817-4_94

DO - 10.1007/978-3-642-10817-4_94

M3 - Article in proceeding

VL - 5928

SP - 957

EP - 966

BT - Proceedings of the 2nd International Conference on Intelligent Robotics and Applications (ICIRA '09)

PB - Springer

ER -

The Vision System of the ACROBOTER Project

Abstract

Keywords

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