loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Susana Brandão 1 ; Manuela Veloso 2 and João P. Costeira 3

Affiliations: 1 Carnegie Mellon University and Universidade de Lisboa, United States ; 2 Carnegie Mellon University, United States ; 3 Universidade de Lisboa, Portugal

ISBN: 978-989-758-009-3

Keyword(s): 3D Partial View Representation, Robotic Vision.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Applications ; Computer Vision, Visualization and Computer Graphics ; Image and Video Analysis ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Robotics ; Shape Representation and Matching ; Software Engineering

Abstract: The current paper addresses the problem of object identification from multiple 3D partial views, collected from different view angles with the objective of disambiguating between similar objects. We assume a mobile robot equipped with a depth sensor that autonomously grasps an object from different positions, with no previous known pattern. The challenge is to efficiently combine the set of observations into a single classification. We approach the problem with a sequential importance resampling filter that allows to combine the sequence of observations and that, by its sampling nature, allows to handle the large number of possible partial views. In this context, we introduce innovations at the level of the partial view representation and at the formulation of the classification problem. We provide a qualitative comparison to support our representation and illustrate the identification process with a case study.

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.237.249.90

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Brandão, S.; Brandão, S.; Veloso, M. and Costeira, J. (2014). Probabilistic Object Identification through On-demand Partial Views.In Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014) ISBN 978-989-758-009-3, pages 717-722. DOI: 10.5220/0004855507170722

@conference{visapp14,
author={Susana Brandão. and Susana Brandão. and Manuela Veloso. and João P. Costeira.},
title={Probabilistic Object Identification through On-demand Partial Views},
booktitle={Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014)},
year={2014},
pages={717-722},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004855507170722},
isbn={978-989-758-009-3},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014)
TI - Probabilistic Object Identification through On-demand Partial Views
SN - 978-989-758-009-3
AU - Brandão, S.
AU - Brandão, S.
AU - Veloso, M.
AU - Costeira, J.
PY - 2014
SP - 717
EP - 722
DO - 10.5220/0004855507170722

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.