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Towards Shape Understanding through Non-Parametric Shape Warping

Hillenbrand, Ulrich (2009) Towards Shape Understanding through Non-Parametric Shape Warping. In: IROS, International Conference on Intelligent RObots and Systems. Semantic Perception for Mobile Manipulation, 11.Okt. - 15. Okt. 2009, St. Louis, USA.

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Abstract

This paper pursues the idea of understanding shapes of unknown objects through establishing correspondence with points from the surface of known objects. A lot of geometryrelated knowledge, such as functionally correct grasps or object constellations, could thus be transferred from known shapes to novel shapes of the same or a similar category. As one critical module in such a system, this paper considers warping of surfaces in 3D across significant and possibly non-smooth shape variations. Results are shown for some objects from the Princeton Shape Benchmark and a range scan.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Towards Shape Understanding through Non-Parametric Shape Warping
Authors:
AuthorsInstitution or Email of Authors
Hillenbrand, Ulrich UNSPECIFIED
Date:11 October 2009
Journal or Publication Title:IROS, International Conference on Intelligent RObots and Systems
Status:Published
Keywords:Non-Parametric Shape, surfaces in 3D
Event Title:Semantic Perception for Mobile Manipulation
Event Location:St. Louis, USA
Event Type:international Conference
Event Dates:11.Okt. - 15. Okt. 2009
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:13 Jan 2010 13:14
Last Modified:15 Jan 2010 02:36

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