Large-Scale Real-Time Object Identification Based on Analytic Features
ICANN '09 Proceedings of the 19th International Conference on Artificial Neural Networks: Part II
Interactive learning of visually symmetric objects
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
ACIVS'07 Proceedings of the 9th international conference on Advanced concepts for intelligent vision systems
Segmentation and modeling of visually symmetric objects by robot actions
International Journal of Robotics Research
Learning Novel Objects for Extended Mobile Manipulation
Journal of Intelligent and Robotic Systems
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This paper presents a robotic vision system that can be taught to recognize novel objects in a semi-autonomous manner that does not require manual labeling or segmentation of any individual training images. Instead, unfamiliar objects are simply shown to the system in varying poses and scales against cluttered background and the system automatically detects, tracks, segments, and builds representations for these objects. We demonstrate the feasibility of our approach by training the system to recognize one hundred household objects, which are presented to the system for about a minute each. Our method resembles the way that biological organisms learn to recognize objects and it paves the way for a wealth of applications in robotics and other fields.