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Chapter


Title

3D object localisation with 2D CNN object detector and 2D odometry

Authors

[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ D ] phd student | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2022

Chapter type

chapter in monograph / paper

Publication language

english

Keywords
EN
  • object detection
  • pose estimation
  • mapping
Abstract

EN In this paper, we deal with the problem of objects detection and 3D position estimation by a mobile-manipulating robot equipped with an RGB-D camera and 2D laser scanner. Instead of estimating 3D position from a single image using CNN, we propose an application of CNN-based 2D object detection and gradient-based optimization that allows estimating 3D object poses from a sequence of images and robot poses obtained from an on-board 2D localization system.

Pages (from - to)

92 - 95

Book

Proceedings of the 3rd Polish Conference on Artificial Intelligence, April 25-27, 2022, Gdynia, Poland

Presented on

3rd Polish Conference on Artificial Intelligence, 25-27.04.2022, Gdynia, Polska

Points of MNiSW / chapter

20.0

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