Publikationer pr. år
Publikationer pr. år
Zhengxue Zhou, Leihui Li, Xuping Zhang*
Publikation: Bidrag til bog/antologi/rapport/proceeding › Konferencebidrag i proceedings › Forskning › peer review
Increasing research attention has been attracted to automatic plug-in charging in an unmanned and dangerous environment. In this work, we develop an object detection solution based on deep learning on 3D point clouds using a mobile robot manipulator to provide mobility and manipulation. In this solution, the 3D point cloud technology is adopted to measure the shapes and depth information for plug-in charging. Then the deep learning is employed to deal with the uncertainty in 3D detection, such as inconsistent light conditions, irregular distribution, and structural ambiguity of point clouds. We utilize a mobile robot manipulator carrying a 3D camera and a gripper to detect the targeted objects and automate plug-in charging operations. The proposed 3D object detection principle and procedure for the automatic plug-in charging are presented in detail. The automatic plug-in charging testing is conducted to validate the developed 3D object detection algorithm using a mobile robot manipulator.
Originalsprog | Engelsk |
---|---|
Titel | 2021 IEEE International Conference on Robotics and Automation (ICRA) |
Antal sider | 7 |
Forlag | IEEE |
Publikationsdato | 2021 |
Sider | 4148-4154 |
ISBN (Elektronisk) | 9781728190778 |
DOI | |
Status | Udgivet - 2021 |
Begivenhed | 2021 IEEE International Conference on Robotics and Automation (ICRA) - Varighed: 30 maj 2021 → 4 jun. 2021 https://www.ieee-icra.org/ |
Konference | 2021 IEEE International Conference on Robotics and Automation (ICRA) |
---|---|
Periode | 30/05/2021 → 04/06/2021 |
Internetadresse |
Publikation: Bidrag til tidsskrift/Konferencebidrag i tidsskrift /Bidrag til avis › Konferenceartikel › Forskning › peer review
Publikation: Bog/antologi/afhandling/rapport › Ph.d.-afhandling
Publikation: Bidrag til tidsskrift/Konferencebidrag i tidsskrift /Bidrag til avis › Tidsskriftartikel › Forskning › peer review