This paper presents a vision system and a depth processing algorithm for DRC-HUBO+, the winner of the DRC finals 2015. Our system is designed to reliably capture 3D information of a scene and objects robust to challenging environment conditions. We also propose a depth-map upsampling method that produces an outliers-free depth map by explicitly handling depth outliers. Our system is suitable for an interactive robot with real-world that requires accurate object detection and pose estimation. We evaluate our depth processing algorithm over state-of-the-art algorithms on several synthetic and real-world datasets.
@article{arxiv.1509.06114,
title = {Vision System and Depth Processing for DRC-HUBO+},
author = {Inwook Shim and Seunghak Shin and Yunsu Bok and Kyungdon Joo and Dong-Geol Choi and Joon-Young Lee and Jaesik Park and Jun-Ho Oh and In So Kweon},
journal= {arXiv preprint arXiv:1509.06114},
year = {2015}
}