标题：Robot aided object segmentation based on kinect without prior knowledge
作者：Chi, Wenzheng ;Meng, Max Q.-H. ;Chen, Xijun
作者机构：[Chi, Wenzheng ] School of Control Science and Engineering, Shandong University, Jinan, Shandong 250061, China;[Meng, Max Q.-H. ;Chen, Xijun ] Departm 更多
会议名称：2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
会议日期：11 December 2012 through 14 December 2012
来源：2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
关键词：Kinect; Manipulation; Object Segmentation; WAM
摘要：As a significant step in artificial intelligence, robot aided object segmentation has drawn increasing attention in past decades. In this paper, a new object segmentation method is proposed based on 3-D information and robot manipulation. We use the Kinect to get the depth information of the object directly as well as the detected contours of it, with which both the primary object segmentation and the 3-D localization of the object can be formed. The usage of Kinect will not only simplify the segmentation process but also improve the performance. Next, the robot arm WAM (Whole Arm Manipulator) with a larger payload is chosen as the manipulator to make further judgment, making it possible to deal with a heavier object. After the manipulation, object segmentation can be accomplished according to the different occasions. Experiments are conducted to prove the effectiveness of this approach. © 2012 IEEE.