# Vision System and Depth Processing for DRC-HUBO+

arXiv: https://arxiv.org/abs/1509.06114 · HTML: https://mlsanity.com/paper/1509.06114/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Sep 2015.

## Built on by (most cited first, 2 of 2)

- [SLiDE: Self-supervised LiDAR De-snowing through Reconstruction Difficulty](https://mlsanity.com/paper/2208.04043/) (2022)
- [A Review of Mobile Mapping Systems: From Sensors to Applications](https://mlsanity.com/paper/2205.15865/) (2022)

## Abstract (arXiv)

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.