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Automatic scene parsing for generic object descriptions using shape primitives

Büttner, Stefan and Marton, Zoltan-Csaba and Hertkorn, Katharina (2015) Automatic scene parsing for generic object descriptions using shape primitives. Robotics and Autonomous Systems, 76, pp. 93-112. Elsevier. DOI: 10.1016/j.robot.2015.11.003 ISSN 0921-8890

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Official URL: http://www.sciencedirect.com/science/article/pii/S0921889015002584

Abstract

Autonomous robots need to generate complete 3D models from a limited range of view when trying to manipulate objects for which no model is known a priori. This can be achieved by detecting symmetrical parts of an object, thus, creating an estimate of the invisible back sides. These symmetrical parts are typically modeled as primitive shapes (cylinders, spheres, cones, etc.), and fitted to noisy sensor data using sample consensus methods. This has the advantage that feasible grasps can be chosen from a precomputed set based on the estimated model, instead of a time-consuming random sampling approach. This article will look at fitting such analytic models to noisy 3D data in the context of robotic manipulation. State of the art methods from the Point Cloud Library (PCL) were extended to include additional relevant shapes (e.g. boxes), constraints (e.g. on size and orientation), and to consider additional information like knowledge about free space or proprioceptive information. A core part of the approach is the development of a scene parsing language, that allows for an easy-to-use pipeline specification during autonomous operation as well as shared-autonomy scenarios. Experiments will be presented based on scenes captured using an Xtion sensor.

Item URL in elib:https://elib.dlr.de/102054/
Document Type:Article
Additional Information:Special Section on 3D Perception with PCL
Title:Automatic scene parsing for generic object descriptions using shape primitives
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Büttner, Stefanstefan.buettner (at) dlr.deUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Hertkorn, KatharinaKatharina.Hertkorn (at) dlr.deUNSPECIFIED
Date:November 2015
Journal or Publication Title:Robotics and Autonomous Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:76
DOI :10.1016/j.robot.2015.11.003
Page Range:pp. 93-112
Editors:
EditorsEmail
Dillmann, Rdillmann@ira.uka.de
Matteo, Munaromunaro@dei.unipd.it
Rusu, Radu BogdanUNSPECIFIED
Menegatti, Emanueleemanuele.menegatti@dei.unipd.it
Publisher:Elsevier
ISSN:0921-8890
Status:Published
Keywords:Sample consensus Shape primitives 3D models Task specification
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Marton, Dr. Zoltan-Csaba
Deposited On:13 Jan 2016 11:38
Last Modified:06 Sep 2019 15:18

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