Model-Based 3D Object Recognition in RGB-D Images

Maciej Stefańczyk , Włodzimierz Kasprzak


A computational framework for 3D object recognition in RGB-D images is presented. The focus is on computer vision applications in indoor autonomous robotics, where objects need to be recognized either for the purpose of being grasped and manipulated by the robot, or where the entire scene must be recognized to allow high-level cognitive tasks to be performed. The framework integrates solutions for generic (i.e. type-based) object representation (e.g. semantic networks), trainable transformations between abstraction levels (e.g. by neural networks), reasoning under uncertain and partial data (e.g. Dynamic Bayesian Networks, Fuzzy Logic), optimized model-to-data matching (e.g. constraint optimization problems) and efficient search strategies (switching between data- and model-driven inference steps). The computational implementation of the object model and the object recognition strategy is presented in more details. Testing scenarios deal with the recognition of cups and bottles or household furniture. Conducted experiments and the chosen applications confirmed, that this approach is valid and may easily be adapted to multiple scenarios.
Author Maciej Stefańczyk (FEIT / AK)
Maciej Stefańczyk,,
- The Institute of Control and Computation Engineering
, Włodzimierz Kasprzak (FEIT / AK)
Włodzimierz Kasprzak,,
- The Institute of Control and Computation Engineering
Publication size in sheets1.15
Book Kwaśnicka Halina, Jain Lakhmi C. (eds.): Bridging the Semantic Gap in Image and Video Analysis, Intelligent Systems Reference Library, vol. 145, 2018, Springer International Publishing, ISBN 978-3-319-73890-1, [978-3-319-73891-8], 163 p., DOI:10.1007/978-3-319-73891-8
ASJC Classification3309 Library and Information Sciences; 1802 Information Systems and Management; 1700 General Computer Science
projectDevelopment of methodology of control, decision support and production management. Project leader: Ogryczak Włodzimierz, , Phone: 6190, start date 12-06-2017, end date 31-12-2018, 504/statut2017/1031, Implemented
WEiTI Działalność statutowa
Languageen angielski
mstef_wkasp_bridging.pdf 5.64 MB
Score (nominal)5
ScoreMinisterial score = 5.0, 15-04-2019, BookMonographyChapterAuthor
Publication indicators Scopus Citations = 1; WoS Citations = 0; Scopus SNIP (Source Normalised Impact per Paper): 2016 = 0.177
Citation count*1 (2019-02-05)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.