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This paper presents a vision system and a depth processing algorithm forDRC-HUBO+, the winner of the DRC finals 2015. Our system is designed toreliably capture 3D information of a scene and objects robust to challengingenvironment conditions. We also propose a depth-map upsampling method thatproduces an outliers-free depth map by explicitly handling depth outliers. Oursystem is suitable for an interactive robot with real-world that requiresaccurate object detection and pose estimation. We evaluate our depth processingalgorithm over state-of-the-art algorithms on several synthetic and real-worlddatasets.

Vision System and Depth Processing for DRC-HUBO+