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From object categories to grasp transfer using probabilistic reasoning
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.
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
2012 (engelsk)Inngår i: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE Computer Society, 2012, s. 1716-1723Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper we address the problem of grasp generation and grasp transfer between objects using categorical knowledge. The system is built upon an i) active scene segmentation module, able of generating object hypotheses and segmenting them from the background in real time, ii) object categorization system using integration of 2D and 3D cues, and iii) probabilistic grasp reasoning system. Individual object hypotheses are first generated, categorized and then used as the input to a grasp generation and transfer system that encodes task, object and action properties. The experimental evaluation compares individual 2D and 3D categorization approaches with the integrated system, and it demonstrates the usefulness of the categorization in task-based grasping and grasp transfer.

sted, utgiver, år, opplag, sider
IEEE Computer Society, 2012. s. 1716-1723
Serie
IEEE International Conference on Robotics and Automation, ISSN 2152-4092
Emneord [en]
Experimental evaluation, Individual objects, Integrated systems, Object categories, Object categorization, Probabilistic reasoning, Real time, Reasoning system, Scene segmentation, Task-based, Transfer systems, Robotics, Three dimensional
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-101528DOI: 10.1109/ICRA.2012.6225052ISI: 000309406701111Scopus ID: 2-s2.0-84864441408ISBN: 978-146731403-9 (tryckt)OAI: oai:DiVA.org:kth-101528DiVA, id: diva2:549673
Konferanse
2012 IEEE International Conference on Robotics and Automation, RiverCentre, Saint Paul, Minnesota, USA, May 14-18, 2012
Forskningsfinansiär
ICT - The Next Generation
Merknad

QC 20120905

Tilgjengelig fra: 2012-09-05 Laget: 2012-08-30 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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Kragic, Danica

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