DocumentCode :
2598409
Title :
Object disappearance for object discovery
Author :
Mason, Julian ; Marthi, Bhaskara ; Parr, Ronald
Author_Institution :
Dept. of Comput. Sci., Duke Univ., Durham, NC, USA
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
2836
Lastpage :
2843
Abstract :
A useful capability for a mobile robot is the ability to recognize the objects in its environment that move and change (as distinct from background objects, which are largely stationary). This ability can improve the accuracy and reliability of localization and mapping, enhance the ability of the robot to interact with its environment, and facilitate applications such as inventory management and theft detection. Rather than viewing this task as a difficult application of object recognition methods from computer vision, this work is in line with a recent trend in the community towards unsupervised object discovery and tracking that exploits the fundamentally temporal nature of the data acquired by a robot. Unlike earlier approaches, which relied heavily upon computationally intensive techniques from mapping and computer vision, our approach combines visual features and RGB-D data in a simple and effective way to segment objects from robot sensory data. We then use a Dirichlet process to cluster and recognize objects. The performance of our approach is demonstrated in several test domains.
Keywords :
SLAM (robots); feature extraction; image segmentation; mobile robots; object tracking; random processes; robot vision; Dirichlet process; RGB-D data; computer vision; data acquisition; inventory management; localization reliability; mapping reliability; mobile robot; object clusters; object disappearance; object recognition; object segmentation; robot interaction; robot sensory data; theft detection; unsupervised object discovery; unsupervised object tracking; visual features; Clustering algorithms; Feature extraction; Image color analysis; Image segmentation; Robot sensing systems; Visualization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6386219
Filename :
6386219
Link To Document :
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