DocumentCode :
3182411
Title :
Towards Open-Ended 3D Rotation and Shift Invariant Object Detection for Robot Companions
Author :
Kubacki, Jens ; Baum, Winfried
Author_Institution :
Fraunhofer IPA, Stuttgart
fYear :
2006
fDate :
9-15 Oct. 2006
Firstpage :
3352
Lastpage :
3357
Abstract :
Robot companions need to be able to constantly acquire knowledge about new objects for instance in order to detect them in the environment. This ability is necessary since it is hard to predict what objects the robot may face in the operation phase during development. This paper presents ideas and results on two topics. The first topic is on the design of an open-ended object detection system that uses scale invariant feature key-point descriptors that are trained with a one-class radial basis function support vector machine. Unlike using other classifier-based approaches our method does not assume the number classes to be known a priori. The method is shown to be stable against full 3D rotation of the object relative to the sensor. The second issue in this paper deals with a solution on how to provide new object information to the robot. A modern range imaging sensor in conjunction with a conventional color imaging sensor is used for a first figure-background separation. The experiments presented support the basic statements in this paper. Conclusions are drawn and future work is addressed
Keywords :
image colour analysis; image sensors; object detection; radial basis function networks; robot vision; support vector machines; color imaging sensor; figure-background separation; open-ended 3D rotation; radial basis function support vector machine; range imaging sensor; robot companions; scale invariant feature key-point descriptors; shift invariant object detection; Cognitive robotics; Color; Human robot interaction; Image segmentation; Image sensors; Intelligent robots; Object detection; Robot kinematics; Robot sensing systems; Support vector machines; Cognitive robot companion; active learning; interactive learning; object detection; object recognition; one-class SVM; range imaging sensor; shift-invariant feature transform; support-vector learning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.282511
Filename :
4058917
Link To Document :
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