Hypothesis Generation in Generic, Model-Based Object Recognition System

Maciej Stefańczyk , Rafał Pietruch

Abstract

One of the key problems in robotics is ability to search and recognize objects, as well as their reliable localization. Existing object-detection solutions relies either on instance-models, making them unable to generalize, or can’t estimate object pose if the model is not known at hand. We aim at making system able to work with generic models, described using set of simple parts and relations between them, as well as localize them on scene. Article presents hypothesis generation part of the designed system.
Author Maciej Stefańczyk (FEIT / AK)
Maciej Stefańczyk,,
- The Institute of Control and Computation Engineering
, Rafał Pietruch - [Przemyslowy Instytut Automatyki i Pomiarow, Warsaw]
Rafał Pietruch,,
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Pages717-727
Publication size in sheets0.5
Book Szewczyk Roman, Kaliczyńska Małgorzata, Zieliński Cezary: Challenges in Automation, Robotics and Measurement Techniques. Proceedings of AUTOMATION-2016, March 2-4, 2016, Warsaw, Poland, Advances in Intelligent Systems and Computing, vol. 440, 2016, Springer International Publishing, ISBN 978-3-319-29356-1, [978-3-319-29357-8], 919 p., DOI:10.1007/978-3-319-29357-8
Keywords in EnglishHypothesis generation Virtual receptor Object detection Edge detection Constraint satisfaction
DOIDOI:10.1007/978-3-319-29357-8_62
URL http://link.springer.com/chapter/10.1007/978-3-319-29357-8_62
ProjectRobREx: Autonomy for rescue and exploration robots. Project leader: Zieliński Cezary, , Phone: 5102, start date 12-12-2012, end date 30-11-2015, 513/1031, Completed
WEiTI Projects financed by NCRD [Projekty finansowane przez NCBiR (NCBR)]
Languageen angielski
File
Stefanczyk i in Aut-16 rgbd-dataset.pdf 4.12 MB
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 15.0, 04-02-2020, BookChapterSeriesAndMatConfByConferenceseries
Ministerial score (2013-2016) = 15.0, 04-02-2020, BookChapterSeriesAndMatConfByConferenceseries
Publication indicators Scopus Citations = 2; WoS Citations = 1; GS Citations = 3.0
Citation count*3 (2020-08-17)
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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.
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