• Corpus ID: 17636376

Geometry-Based Region Proposals for Real-Time Robot Detection of Tabletop Objects

@article{Broad2017GeometryBasedRP,
  title={Geometry-Based Region Proposals for Real-Time Robot Detection of Tabletop Objects},
  author={Alexander Broad and Brenna Argall},
  journal={ArXiv},
  year={2017},
  volume={abs/1703.04665}
}
We present a novel object detection pipeline for localization and recognition in three dimensional environments. Our approach makes use of an RGB-D sensor and combines state-of-the-art techniques from the robotics and computer vision communities to create a robust, real-time detection system. We focus specifically on solving the object detection problem for tabletop scenes, a common environment for assistive manipulators. Our detection pipeline locates objects in a point cloud representation of… 

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