|Onboard Real-time Object Surface Recognition for a Small Indoor Mobile Platform Based on Surface Component Ratio Histogram
Hee-Won Chae, Hyejun Yu, and Jae-Bok Song*
International Journal of Control, Automation, and Systems, vol. 17, no. 3, pp.765-772, 2019
Abstract : "Since a RGB-D sensor provides rich information about the scene, various object recognition schemes
and low-level image descriptors can be used to improve the SLAM performance. However, a cleaning robot, which
is usually flat and thus the camera is close to the floor, usually only has a partial view of the objects in front of the
camera; therefore, conventional object recognition schemes based on the complete view of objects are not suitable.
To address this problem, we introduce a novel object surface recognition algorithm based on the proposed surface
component ratio histogram (SCRH). SCRH is a surface descriptor which describes the geometrical shape of the
partial view of the object. Without any pre-trained model of the objects, SCRH provides a way to deal with the
unexpected objects which the robot encounters during the navigation. SCRH was evaluated using several objects
lying on the floor of which the identities are not known in advance. The experimental results show that objects are
successfully discriminated based on their surfaces and SCRH is robust for object surface recognition."
Embedded system, fast point feature histogram, small mobile robots, surface recognition.
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