CAJ | 학술논문

针对室内服务机器人在实际应用中的需求，提出一种结合三维点云分割和局部特征匹配的实时物体识别系统。该系统首先基于三维点云实现快速有效的物体检测，然后利用物体检测的结果定位物体在彩色图像中的区域，并采用基于 SURF 特征匹配的方法识别出物体的标识。实验结果表明，该系统可较好地满足室内服务机器人物体检测与识别的实时性和可靠性要求。
침대실내복무궤기인재실제응용중적수구，제출일충결합삼유점운분할화국부특정필배적실시물체식별계통。해계통수선기우삼유점운실현쾌속유효적물체검측，연후이용물체검측적결과정위물체재채색도상중적구역，병채용기우 SURF 특정필배적방법식별출물체적표식。실험결과표명，해계통가교호지만족실내복무궤기인물체검측여식별적실시성화가고성요구。
For the requirements in practical application of indoor service robot, a real-time object recognition system is proposed which integrates 3D point cloud segmentation and local feature matching. First, it does fast and effective object detection based on 3D point cloud. Then, the areas of objects in color image are located using the result of object detection, and objects are identified using the approach based on SURF feature matching. The experiments show that the system could well meet the real-time and reliability requirements of indoor service robot's object detection and recognition .