Change search
ReferencesLink to record
Permanent link

Direct link
Birth Of The Object: Detection Of Objectness And Extraction Of Object Shape Through Object-Action Complexes
Show others and affiliations
2008 (English)In: International Journal of Humanoid Robotics, ISSN 0219-8436, Vol. 5, no 2, 247-265 p.Article in journal (Refereed) Published
Abstract [en]

We describe a process in which the segmentation of objects as well as the extraction of the object shape becomes realized through active exploration of a robot vision system. In the exploration process, two behavioral modules that link robot actions to the visual and haptic perception of objects interact. First, by making use of an object independent grasping mechanism, physical control over potential objects can be gained. Having evaluated the initial grasping mechanism as being successful, a second behavior extracts the object shape by making use of prediction based on the motion induced by the robot. This also leads to the concept of an "object" as a set of features that change predictably over different frames. The system is equipped with a certain degree of generic prior knowledge about the world in terms of a sophisticated visual feature extraction process in an early cognitive vision system, knowledge about its own embodiment as well as knowledge about geometric relationships such as rigid body motion. This prior knowledge allows the extraction of representations that are semantically richer compared to many other approaches.

Place, publisher, year, edition, pages
2008. Vol. 5, no 2, 247-265 p.
Keyword [en]
Early cognitive vision, grasping, exploration, representations, vision
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-17926DOI: 10.1142/S021984360800139XISI: 000260488500006ScopusID: 2-s2.0-56349086102OAI: diva2:335971
QC 20100525 QC 20120125Available from: 2010-08-05 Created: 2010-08-05 Last updated: 2012-01-25Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Kragic, Danica
By organisation
Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CAS
Computer and Information Science

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 34 hits
ReferencesLink to record
Permanent link

Direct link