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

Authors

Junlong Zhou, East China Normal University
Jianming Yan, East China Normal University
Tongquan Wei, East China Normal University
Kaijie Wu, Chongqing University
Xiaodao Chen, China University of Geosciences Wuhan
Shiyan Hu, Michigan Technological UniversityFollow

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

Recommended Citation

Zhou, J., Yan, J., Wei, T., Wu, K., Chen, X., & Hu, S. (2015). Sharp corner/edge recognition in domestic environments using RGB-D camera systems. IEEE Transactions on Circuits and Systems II: Express Briefs, 62(10), 987-991. http://doi.org/10.1109/TCSII.2015.2458051
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/779