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Generating Object Hypotheses in Natural Scenes through Human-Robot Interaction
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0003-0579-3372
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0003-2965-2953
2011 (engelsk)Inngår i: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS / [ed] Amato, Nancy M., San Francisco: IEEE , 2011, s. 827-833Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We propose a method for interactive modeling ofobjects and object relations based on real-time segmentation ofvideo sequences. In interaction with a human, the robot canperform multi-object segmentation through principled model-ing of physical constraints. The key contribution is an efficientmulti-labeling framework, that allows object modeling anddisambiguation in natural scenes. Object modeling and labelingis done in a real-time, to which hypotheses and constraintsdenoting relations between objects can be added incrementally.Through instructions such as key presses or spoken words, ascene can be segmented in regions corresponding to multiplephysical objects. The approach solves some of the difficultproblems related to disambiguation of objects merged due totheir direct physical contact. Results show that even a limited setof simple interactions with a human operator can substantiallyimprove segmentation results.

sted, utgiver, år, opplag, sider
San Francisco: IEEE , 2011. s. 827-833
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Emneord [en]
Cognitive Human-Robot Interaction, Computer Vision
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-43451DOI: 10.1109/IROS.2011.6048162ISI: 000297477501027Scopus ID: 2-s2.0-84455201679ISBN: 978-1-61284-454-1 (tryckt)OAI: oai:DiVA.org:kth-43451DiVA, id: diva2:448466
Konferanse
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, San Francisco
Merknad
© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20111102Tilgjengelig fra: 2011-11-02 Laget: 2011-10-17 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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Björkman, MårtenKragic, Danica

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