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Object and pose recognition using contour and shape information
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
2005 (English)In: 2005 12th International Conference on Advanced Robotics, NEW YORK, NY: IEEE , 2005, 613-620 p.Conference paper, Published paper (Refereed)
Abstract [en]

Object recognition and pose estimation are of significant importance for robotic visual servoing, manipulation and grasping tasks. Traditionally, contour and shape based methods have been considered as most adequate for estimating stable and feasible grasps, [1]. More recently, a new research direction has been advocated in visual servoing where image moments are used to define a suitable error function to be minimized. Compared to appearance based methods, contour and shape based approaches are also suitable for use with range sensors such as, for example, lasers. In this paper, we evaluate a contour based object recognition system building on the method in [2], suitable for objects of uniform color properties such as cups, cutlery, fruits etc. This system is one of the building blocks of a more complex object recognition system based both on stereo and appearance cues, [3]. The system has a significant potential both in terms of service robot and programming by demonstration tasks. Experimental evaluation shows promising results in terms of robustness to occlusion and noise.

Place, publisher, year, edition, pages
NEW YORK, NY: IEEE , 2005. 613-620 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-43127ISI: 000234272400090Scopus ID: 2-s2.0-33749058061ISBN: 0-7803-9177-2 (print)OAI: oai:DiVA.org:kth-43127DiVA: diva2:448525
Conference
12th International Conference on Advanced Robotics. Seattle, WA. JUL 17-20, 2005
Note
QC 20111017Available from: 2011-10-17 Created: 2011-10-13 Last updated: 2012-03-20Bibliographically approved

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Kragic, Danica

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Cornelius, HugoKragic, DanicaEklundh, Jan-Olof
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
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  • de-DE
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
  • html
  • text
  • asciidoc
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