Representing 3-D objects in range images using geons
Computer Vision and Image Understanding
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Resolving Motion Correspondence for Densely Moving Points
IEEE Transactions on Pattern Analysis and Machine Intelligence
Saliency, Scale and Image Description
International Journal of Computer Vision
Rotation invariant spherical harmonic representation of 3D shape descriptors
Proceedings of the 2003 Eurographics/ACM SIGGRAPH symposium on Geometry processing
A Non-Iterative Greedy Algorithm for Multi-frame Point Correspondence
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Three-Dimensional Model-Based Object Recognition and Segmentation in Cluttered Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Representation and Matching of Pictorial Structures
IEEE Transactions on Computers
DEVLRN '09 Proceedings of the 2009 IEEE 8th International Conference on Development and Learning
Learning to generate novel views of objects for class recognition
Computer Vision and Image Understanding
Context assessment strategies for ubiquitous robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Probabilistic categorization of kitchen objects in table settings with a composite sensor
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Learning Visual Object Categories for Robot Affordance Prediction
International Journal of Robotics Research
Object Recognition in 3D Point Clouds Using Web Data and Domain Adaptation
International Journal of Robotics Research
Using multi-modal 3D contours and their relations for vision and robotics
Journal of Visual Communication and Image Representation
Learning Affordances for Categorizing Objects and Their Properties
ICPR '10 Proceedings of the 2010 20th International Conference on Pattern Recognition
Content-Based Retrieval of 3-D Objects Using Spin Image Signatures
IEEE Transactions on Multimedia
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
3-D Object Recognition Using 2-D Views
IEEE Transactions on Image Processing
Using Object Affordances to Improve Object Recognition
IEEE Transactions on Autonomous Mental Development
RGB-(D) scene labeling: Features and algorithms
CVPR '12 Proceedings of the 2012 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
Robotics and Autonomous Systems
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A new approach enabling a mobile robot to recognize and classify furniture-like objects composed of assembled parts using a Microsoft Kinect is presented. Starting from considerations about the structure of furniture-like objects, i.e., objects which can play a role in the course of a mobile robot mission, the 3D point cloud returned by the Kinect is first segmented into a set of ''almost convex'' clusters. Objects are then represented by means of a graph expressing mutual relationships between such clusters. Off-line, snapshots of the same object taken from different positions are processed and merged, in order to produce multiple-view models that are used to populate a database. On-line, as soon as a new object is observed, a run-time window of subsequent snapshots is used to search for a correspondence in the database. Experiments validating the approach with a set of objects (i.e., chairs, tables, but also other robots) are reported and discussed in detail.