Machine Learning
Approximation algorithms for bin packing: a survey
Approximation algorithms for NP-hard problems
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
3D zernike descriptors for content based shape retrieval
SM '03 Proceedings of the eighth ACM symposium on Solid modeling and applications
Learning associative Markov networks
ICML '04 Proceedings of the twenty-first international conference on Machine learning
Feature Selection for Unsupervised Learning
The Journal of Machine Learning Research
Toward Integrating Feature Selection Algorithms for Classification and Clustering
IEEE Transactions on Knowledge and Data Engineering
Object Categorization by Learned Universal Visual Dictionary
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
INFORMS Journal on Computing
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
3-D Depth Reconstruction from a Single Still Image
International Journal of Computer Vision
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
Upright orientation of man-made objects
ACM SIGGRAPH 2008 papers
Make3D: Learning 3D Scene Structure from a Single Still Image
IEEE Transactions on Pattern Analysis and Machine Intelligence
Learning grasp strategies with partial shape information
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
Using the forest to see the trees: exploiting context for visual object detection and localization
Communications of the ACM
Fast point feature histograms (FPFH) for 3D registration
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Reactive grasping using optical proximity sensors
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Learning 3-D object orientation from images
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Spatial relationship preserving character motion adaptation
ACM SIGGRAPH 2010 papers
Probabilistic Graphical Models: Principles and Techniques - Adaptive Computation and Machine Learning
Context-based search for 3D models
ACM SIGGRAPH Asia 2010 papers
Characterizing structural relationships in scenes using graph kernels
ACM SIGGRAPH 2011 papers
Hierarchical semantic indexing for large scale image retrieval
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
Contextually guided semantic labeling and search for three-dimensional point clouds
International Journal of Robotics Research
Incremental object learning and robust tracking of multiple objects from RGB-D point set data
Journal of Visual Communication and Image Representation
Object-object interaction affordance learning
Robotics and Autonomous Systems
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Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas and orientations. This is challenging because an environment can have a large variety of objects and placing areas that may not have been seen by the robot before. In this paper, we propose a learning approach for placing multiple objects in different placing areas in a scene. Given point-clouds of the objects and the scene, we design appropriate features and use a graphical model to encode various properties, such as the stacking of objects, stability, object-area relationship and common placing constraints. The inference in our model is an integer linear program, which we solve efficiently via an linear programming relaxation. We extensively evaluate our approach on 98 objects from 16 categories being placed into 40 areas. Our robotic experiments show a success rate of 98% in placing known objects and 82% in placing new objects stably. We use our method on our robots for performing tasks such as loading several dish-racks, a bookshelf and a fridge with multiple items.