Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Discovering Objects and their Localization in Images
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 - Volume 01
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
Towards 3D Point cloud based object maps for household environments
Robotics and Autonomous Systems
AI Goggles: Real-time Description and Retrieval in the Real World with Online Learning
CRV '09 Proceedings of the 2009 Canadian Conference on Computer and Robot Vision
Foundations and Trends in Robotics
CAD-based recognition of 3D objects in monocular images
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Unsupervised learning of 3D object models from partial views
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On fast surface reconstruction methods for large and noisy point clouds
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Object recognition and full pose registration from a single image for robotic manipulation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
High-accuracy 3D sensing for mobile manipulation: improving object detection and door opening
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Scalable learning for object detection with GPU hardware
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robust on-line model-based object detection from range images
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
The self-referenced DLR 3D-modeler
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Object categorization in clutter using additive features and hashing of part-graph descriptors
SC'12 Proceedings of the 2012 international conference on Spatial Cognition VIII
Efficient object categorization with the surface-approximation polynomials descriptor
SC'12 Proceedings of the 2012 international conference on Spatial Cognition VIII
Ensembles of strong learners for multi-cue classification
Pattern Recognition Letters
Generic fitted shapes (GFS): Volumetric object segmentation in service robotics
Robotics and Autonomous Systems
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In this article we describe an object perception system for autonomous robots performing everyday manipulation tasks in kitchen environments. The perception system gains its strengths by exploiting that the robots are to perform the same kinds of tasks with the same objects over and over again. It does so by learning the object representations necessary for the recognition and reconstruction in the context of pick-and-place tasks. The system employs a library of specialized perception routines that solve different, well-defined perceptual sub-tasks and can be combined into composite perceptual activities including the construction of an object model database, multimodal object classification, and object model reconstruction for grasping. We evaluate the effectiveness of our methods, and give examples of application scenarios using our personal robotic assistants acting in a human living environment.