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Interactive Segmentation of Textured and Textureless Objects

Hausman, Karol and Pangercic, Dejan and Marton, Zoltan-Csaba and Balint-Benczedi, Ferenc and Bersch, Christian and Gupta, Megha and Sukhatme, Gaurav and Beetz, Michael (2016) Interactive Segmentation of Textured and Textureless Objects. In: Handling Uncertainty and Networked Structure in Robot Control Studies in Systems, Decision and Control, 42. Springer International Publishing. pp. 237-262. ISBN 978-3-319-26325-0. ISSN 2198-4182

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Official URL: https://www.springer.com/in/book/9783319263250


This article describes interactive object segmentation for autonomous service robots acting in human living environments. The proposed system allows a robot to effectively segment textured and textureless objects in cluttered scenes by leveraging its manipulation capabilities. In this interactive perception approach, RGB and depth (RGB-D) camera based features are tracked while the robot actively induces motions into a scene using its arm. The robot autonomously infers appropriate arm movements which can effectively separate objects. The resulting tracked feature trajectories are assigned to their corresponding object by clustering. In the final step, we reconstruct the dense models of the objects from the previously clustered sparse RGB-D features. The approach is integrated with robotic grasping and is demonstrated on scenes consisting of various textured and textureless objects, showing the advantages of a tight integration between perception, cognition and action.

Item URL in elib:https://elib.dlr.de/104729/
Document Type:Book Section
Additional Information:Chapter 10 (extended version of http://elib.dlr.de/87244/ and other works)
Title:Interactive Segmentation of Textured and Textureless Objects
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hausman, Karolhausman (at) usc.eduUNSPECIFIED
Pangercic, Dejandejan.pangercic (at) gmail.comUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Balint-Benczedi, Ferencbalintbe (at) cs.uni-bremen.deUNSPECIFIED
Bersch, Christianchristian.bersch (at) googlemail.comUNSPECIFIED
Gupta, Meghameghagup (at) usc.eduUNSPECIFIED
Sukhatme, Gauravgaurav (at) usc.eduUNSPECIFIED
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Date:January 2016
Journal or Publication Title:Handling Uncertainty and Networked Structure in Robot Control
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1007/978-3-319-26327-4
Page Range:pp. 237-262
Busoniu, Lucianlucian@busoniu.net
Tamás, Leventelevente.tamas@aut.utcluj.ro
Publisher:Springer International Publishing
Series Name:Studies in Systems, Decision and Control
Keywords:intelligent autonomous systems, robotic vision, 2D and 3D segmentation, interactive segmentation, active vision
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 Autonomie & Geschicklichkeit
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Marton, Dr. Zoltan-Csaba
Deposited On:18 Jul 2016 15:00
Last Modified:19 May 2017 15:11

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