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In this paper, we propose a modularized architecture for a robot arm object fetching system integrated with 3D CAD-model based object recognition system that can cope with objects in random types and poses. The interface and the core functionality of each module in the architecture are discussed in detail. Implementation of each module is also conducted. Furthermore, the assumptions and the working...
In this paper, we develop an online real-time system using Kinect and inertial measurement unit (IMU) to recognize and measure stairs for stair climbing tasks of erect mobile robots. This system combines the ideas of statistical characteristics of 3D point cloud data and adjustable geometric models for stair recognition tasks. Through this system, we not only verify the advantages of statistics methods...
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