Occlusion alleviation through motion using a mobile robot

Duc Fehr, William J. Beksi, Dimitris Zermas, Nikolaos P Papanikolopoulos

Research output: Contribution to journalConference articlepeer-review

2 Scopus citations


Object segmentation and classification is an important and difficult task in robotic vision. The task is complicated even further when the different objects are partially or completely occluded. Allowing a robot to take measurements from varying points of view can help in alleviating or completely removing occlusions. A robot equipped with an RGB-D sensor has the capability of searching for new and better points of view to facilitate object recognition. In this work, a motion control algorithm is designed and implemented on a mobile robot to facilitate object classification in RGB-D data of clustered objects.

Original languageEnglish (US)
Article number6907316
Pages (from-to)3179-3184
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

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