Title

Sharp corner/edge recognition in domestic environments using RGB-D camera systems

Document Type

Article

Publication Date

7-17-2015

Department

Department of Electrical and Computer Engineering, Center for Cyber-Physical Systems

Abstract

This brief proposes a sharp corner/edge detection and evaluation scheme for RGB-D camera-based domestic applications. The proposed approach first preprocesses the original depth map of objects in domestic environments captured by an RGB-D camera system and then uses the recovered depth map to recognize sharp corners/edges on objects and calculate their sharpness. Furthermore, the approaching speed of a mobile manipulator equipped with the system is derived, and the threat of detected sharp corners/edges is evaluated. To the best of our knowledge, this is the first work that explores sharp corner/edge detection and evaluation in the literature. Simulation results demonstrated that the proposed algorithm can effectively identify dangerous sharp corners/edges in domestic environments.

Publisher's Statement

© 2015 IEEE. Publisher's version of record: https://doi.org/10.1109/TCSII.2015.2458051

Publication Title

IEEE Transactions on Circuits and Systems II: Express Briefs

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