Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Interactive Perception: From Scenes to Objects
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
2012 (engelsk)Doktoravhandling, monografi (Annet vitenskapelig)
Abstract [en]

This thesis builds on the observation that robots, like humans, do not have enough experience to handle all situations from the start. Therefore they need tools to cope with new situations, unknown scenes and unknown objects. In particular, this thesis addresses objects. How can a robot realize what objects are if it looks at a scene and has no knowledge about objects? How can it recover from situations where its hypotheses about what it sees are wrong? Even if it has built up experience in form of learned objects, there will be situations where it will be uncertain or mistaken, and will therefore still need the ability to correct errors. Much of our daily lives involves interactions with objects, and the same will be true robots existing among us. Apart from being able to identify individual objects, the robot will therefore need to manipulate them.

Throughout the thesis, different aspects of how to deal with these questions is addressed. The focus is on the problem of a robot automatically partitioning a scene into its constituting objects. It is assumed that the robot does not know about specific objects, and is therefore considered inexperienced. Instead a method is proposed that generates object hypotheses given visual input, and then enables the robot to recover from erroneous hypotheses. This is done by the robot drawing from a human's experience, as well as by enabling it to interact with the scene itself and monitoring if the observed changes are in line with its current beliefs about the scene's structure.

Furthermore, the task of object manipulation for unknown objects is explored. This is also used as a motivation why the scene partitioning problem is essential to solve. Finally aspects of monitoring the outcome of a manipulation is investigated by observing the evolution of flexible objects in both static and dynamic scenes. All methods that were developed for this thesis have been tested and evaluated on real robotic platforms. These evaluations show the importance of having a system capable of recovering from errors and that the robot can take advantage of human experience using just simple commands.

sted, utgiver, år, opplag, sider
Stockholm: KTH Royal Institute of Technology, 2012. , s. viii, 135
Serie
Trita-CSC-A, ISSN 1653-5723 ; 2012:11
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-103061ISBN: 978-91-7501-495-1 (tryckt)OAI: oai:DiVA.org:kth-103061DiVA, id: diva2:559818
Disputas
2012-10-29, F3, Lindstedsvägen 26, KTH, Stockholm, 10:00 (engelsk)
Opponent
Veileder
Forskningsfinansiär
ICT - The Next Generation
Merknad

QC 20121011

Tilgjengelig fra: 2012-10-11 Laget: 2012-10-02 Sist oppdatert: 2018-01-12bibliografisk kontrollert

Open Access i DiVA

thesis_niklas_bergstrom(9796 kB)776 nedlastinger
Filinformasjon
Fil FULLTEXT01.pdfFilstørrelse 9796 kBChecksum SHA-512
69b8cfccda6504dc335bafed18331080ad25564d4474a88a5276343eb33686a560082f8fbe7da2d455f7fb28dc4f0ddf12c3b1a2356be04dc636e304284fdf76
Type fulltextMimetype application/pdf

Søk i DiVA

Av forfatter/redaktør
Bergström, Niklas
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar
Totalt: 776 nedlastinger
Antall nedlastinger er summen av alle nedlastinger av alle fulltekster. Det kan for eksempel være tidligere versjoner som er ikke lenger tilgjengelige

isbn
urn-nbn

Altmetric

isbn
urn-nbn
Totalt: 701 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf