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Scene Understanding through Autonomous Interactive Perception
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-0579-3372
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2011 (English)In: Computer Vision Systems: Lecture Notes in Computer Science / [ed] Crowley James L., Draper Bruce, Thonnat Monique, Springer Verlag , 2011, 153-162 p.Conference paper, Published paper (Refereed)
Abstract [en]

We propose a framework for detecting, extracting and mod-eling objects in natural scenes from multi-modal data. Our frameworkis iterative, exploiting different hypotheses in a complementary manner.We employ the framework in realistic scenarios, based on visual appear-ance and depth information. Using a robotic manipulator that interactswith the scene, object hypotheses generated using appearance informa-tion are confirmed through pushing. The framework is iterative, eachgenerated hypothesis is feeding into the subsequent one, continuously re-fining the predictions about the scene. We show results that demonstratethe synergic effect of applying multiple hypotheses for real-world sceneunderstanding. The method is efficient and performs in real-time.

Place, publisher, year, edition, pages
Springer Verlag , 2011. 153-162 p.
Keyword [en]
Computer Vision
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-43453DOI: 10.1007/978-3-642-23968-7_16Scopus ID: 2-s2.0-80053457663ISBN: 978-3642239670 ISBN: 3642239676 (print)OAI: oai:DiVA.org:kth-43453DiVA: diva2:448473
Conference
8th International Conference on Computer Vision Systems; 20 - 22 September 2011, Sophia Antipolis (France)
Note
QC 20111102 Available from: 2011-11-02 Created: 2011-10-17 Last updated: 2012-01-17Bibliographically approved

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Authority records BETA

Björkman, MårtenKragic, Danica

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Bergström, NiklasEk, Carl HenrikBjörkman, MårtenKragic, Danica
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CiteExportLink to record
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