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Retrieval of Arbitrary 3D Objects From Robot Observations
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-1189-6634
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-7796-1438
2015 (English)In: Retrieval of Arbitrary 3D Objects From Robot Observations, Lincoln: IEEE Robotics and Automation Society, 2015, 1-8 p.Conference paper (Refereed)
Abstract [en]

We have studied the problem of retrieval of arbi-trary object instances from a large point cloud data set. Thecontext is autonomous robots operating for long periods of time,weeks up to months and regularly saving point cloud data. Theever growing collection of data is stored in a way that allowsranking candidate examples of any query object, given in theform of a single view point cloud, without the need to accessthe original data. The top ranked ones can then be compared ina second phase using the point clouds themselves. Our methoddoes not assume that the point clouds are segmented or that theobjects to be queried are known ahead of time. This means thatwe are able to represent the entire environment but it also posesproblems for retrieval. To overcome this our approach learnsfrom each actual query to improve search results in terms of theranking. This learning is automatic and based only on the queries.We demonstrate our system on data collected autonomously by arobot operating over 13 days in our building. Comparisons withother techniques and several variations of our method are shown.

Place, publisher, year, edition, pages
Lincoln: IEEE Robotics and Automation Society, 2015. 1-8 p.
Keyword [sv]
robotics, vision, retrieval, mobile robots, point clouds, mapping
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-179229DOI: 10.1109/ECMR.2015.7324203ISI: 000380213600037ScopusID: 2-s2.0-84962322153OAI: oai:DiVA.org:kth-179229DiVA: diva2:882214
Conference
European Conference on Mobile Robots (ECMR) 2015
Projects
STRANDS Project
Funder
EU, FP7, Seventh Framework Programme, 600623
Note

QC 20160318

Available from: 2015-12-14 Created: 2015-12-14 Last updated: 2016-09-05Bibliographically approved

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Publisher's full textScopushttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7324203

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ReferencesLink to record
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