Dynamic Density Topological Structure Generation for Real-Time Ladder Affordance Detection

Azhar Aulia Saputra, Wei Hong Chin, Yuichiro Toda, Naoyuki Takesue, Naoyuki Kubota

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a method with dynamic density topological structure generation for low-cost real-time vertical ladder detection from 3D point cloud data. Dynamic Density Growing Neural Gas (DD-GNG) is proposed to generate a dynamic density of the topological structure. The density of the structure and the number of nodes will be increased in the targeted object area. Feature extraction model is required to classify suspected objects for being processed in the next time process. After that, rungs of the vertical ladder is processed using an inlier-outlier method. Thus, the ladder detection model represents the ladder with a set of nodes and edges. Next, affordance detection is processed for detecting the feasible grasped location. To validate the effectiveness of the proposed method, a series of experiments are conducted on a 4-legged robot with a non-GPU board for real-time vertical ladder detection and climbing to validate the effectiveness of the proposed method. Results show that our proposed method able to detect and track the ladder structure in real-time with a much lower computational cost. The affordance of the ladder provides safety information for robot grasping.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3439-3444
Number of pages6
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - Nov 2019
Externally publishedYes
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/TerritoryChina
CityMacau
Period11/3/1911/8/19

Keywords

  • Dynamic Density Topological Structure
  • Grasped Affordance detection
  • Low Cost Vertical Ladder Detection

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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