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Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator

Publikation: Bidrag til bog/antologi/rapport/proceeding › Konferencebidrag i proceedings › Forskning › peer review

Standard

Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator. / Zhou, Zhengxue; Li, Leihui; Zhang, Xuping.

2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2021. s. 4148-4154.

Publikation: Bidrag til bog/antologi/rapport/proceeding › Konferencebidrag i proceedings › Forskning › peer review

Harvard

Zhou, Z, Li, L & Zhang, X 2021, Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator. i 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, s. 4148-4154, 2021 IEEE International Conference on Robotics and Automation (ICRA), 30/05/2021. https://doi.org/10.1109/ICRA48506.2021.9561106

APA

Zhou, Z., Li, L., & Zhang, X. (2021). Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator. I 2021 IEEE International Conference on Robotics and Automation (ICRA) (s. 4148-4154). IEEE. https://doi.org/10.1109/ICRA48506.2021.9561106

CBE

Zhou Z, Li L, Zhang X. 2021. Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator. I 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE. s. 4148-4154. https://doi.org/10.1109/ICRA48506.2021.9561106

MLA

Zhou, Zhengxue, Leihui Li, og Xuping Zhang "Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator". 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE. 2021, 4148-4154. https://doi.org/10.1109/ICRA48506.2021.9561106

Vancouver

Zhou Z, Li L, Zhang X. Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator. I 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE. 2021. s. 4148-4154 doi: 10.1109/ICRA48506.2021.9561106

Author

Zhou, Zhengxue ; Li, Leihui ; Zhang, Xuping. / Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator. 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2021. s. 4148-4154

Bibtex

@inproceedings{7606b3a1d99946898513ebd1e9ed8a3e,
title = "Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator",
abstract = "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.",
author = "Zhengxue Zhou and Leihui Li and Xuping Zhang",
year = "2021",
doi = "10.1109/ICRA48506.2021.9561106",
language = "English",
pages = "4148--4154",
booktitle = "2021 IEEE International Conference on Robotics and Automation (ICRA)",
publisher = "IEEE",
note = "2021 IEEE International Conference on Robotics and Automation (ICRA) ; Conference date: 30-05-2021 Through 04-06-2021",
url = "https://www.ieee-icra.org/",

}

RIS

TY - GEN

T1 - Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator

AU - Zhou, Zhengxue

AU - Li, Leihui

AU - Zhang, Xuping

PY - 2021

Y1 - 2021

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85125479802&partnerID=8YFLogxK

U2 - 10.1109/ICRA48506.2021.9561106

DO - 10.1109/ICRA48506.2021.9561106

M3 - Article in proceedings

SP - 4148

EP - 4154

BT - 2021 IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

T2 - 2021 IEEE International Conference on Robotics and Automation (ICRA)

Y2 - 30 May 2021 through 4 June 2021

ER -