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Lectures

Perception for Robotics: Part II

Cédric Demonceaux 1
1 VIBOT - Equipe VIBOT - VIsion pour la roBOTique [ImViA EA7535 - ERL CNRS 6000]
CNRS - Centre National de la Recherche Scientifique : ERL 6000, ImViA - Imagerie et Vision Artificielle [Dijon]
Abstract : «What is around me?»knowing how to answer to this question is essential for a robot to navigate safely in its environment. In this part, we will try to find some answers by introducing some tools for helping the robot to perceive the world. Thus, we will present different sensors (lasers, radars, cameras, RGBD sensors) which allow to build a 3D map of the scene where the robot is navigating. Then, we will mainly focus on cameras since these sensors give a rich information about the scene. We will see how we can extract features from the image in order to provide a 3D perception of the world. This chapter presents the main concepts required to start computer vision applied to robotics. It is not an exhaustive study, thus we can only strongly recommend to read the articles and books cited to deepen the knowledge .
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Submitted on : Tuesday, May 14, 2019 - 5:19:46 PM
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Cédric Demonceaux. Perception for Robotics: Part II. Doctoral. GdR Robotics Winter School: Robotica Principia, Centre de recherche Inria Sophia Antipolis – Méditérranée, France. 2019. ⟨cel-02129241⟩

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