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This study proposes the development of a simple remote-controlled daily assistive robot to assist physically challenged individuals. Specifically, we present a method for target object selection using a single click on a graphical user interface. Using this information, the robot can automatically estimate the unknown target object region to plan to grasp and fetch the object. The challenging task...
This paper describes a modeling method that enables generation of a 3D shape model for movable parts of furniture and home appliances. Furniture such as refrigerators, shelves, and cabinets were targeted in this research. The proposed method is based on the tracking of 3D surfaces extracted from depth images captured by a 3D range camera. Both exterior and interior sides of an articulated part can...
This paper describes methods of environment map representation and plane detection for daily assistive robots. Under the assumption that 3D information of around environment is constructed by collecting range data gradually measured, we propose an effective map representation named TCCM (Time-series Composite Cuboid Map). The method copes with temporal sequence explicitly, and map updating is efficiently...
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