ICRA 2012 Paper Abstract

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Paper WeD07.6

Vaskevicius, Narunas (Jacobs University), Pathak, Kaustubh (Jacobs University Bremen), Ichim, Alexandru-Eugen (Ecole Polytechnique Federale de Lausanne), Birk, Andreas (Jacobs University)

The Jacobs Robotics Approach to Object Recognition and Localization in the Context of the ICRA'11 Solutions in Perception Challenge

Scheduled for presentation during the Invited Session "Results of ICRA 2011 Robot Challenge" (WeD07), Wednesday, May 16, 2012, 17:45−18:00, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 23, 2018

Keywords Recognition, Sensor Fusion, Computer Vision for Robotics and Automation

Abstract

In this paper, we give an overview of the Jacobs Robotics entry to the ICRA'11 Solutions in Perception Challenge. We present our multi-pronged strategy for object recognition and localization based on the integrated geometric and visual information available from the Kinect sensor. Firstly, the range image is over-segmented using an edge-detection algorithm and regions of interest are extracted based on a simple shape-analysis per segment. Then, these selected regions of the scene are matched with known objects using visual features and their distribution in 3D space. Finally, generated hypotheses about the positions of the objects are tested by back-projecting learned 3D models to the scene using estimated transformations and sensor model.

 

 

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