Object detection in cluttered environment using 3d map

Abstract

Autonomous mobile robot must act intelligently without external control by definition and require fundamental capabilities such as the awareness of its environment and of its location within the environment. These two problems are known, respectively, as mapping and localization. The ability to detect and identify mobile and fixed obstacles also plays an important role for achieving robots autonomy. The project is concerned with the problem of designing and implementing a robot system to recognize objects in cluttered environment using a 3D map generated by the system using efficient algorithms. For building dense 3D maps of the environment and to recognize objects, use RGB-D camera which accurately identifies objects as they take into consideration the shape and threedimensional characteristics of the object.