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 recognit… Show more
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