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.
Item URL in elib: | https://elib.dlr.de/62488/ | ||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||
Title: | Towards Shape Understanding through Non-Parametric Shape Warping | ||||||
Authors: |
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Date: | 11 October 2009 | ||||||
Journal or Publication Title: | IROS, International Conference on Intelligent RObots and Systems | ||||||
Open Access: | Yes | ||||||
Gold Open Access: | No | ||||||
In SCOPUS: | No | ||||||
In ISI Web of Science: | No | ||||||
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 (until 2012) > Robotic Systems | ||||||
Deposited By: | Beinhofer, Gabriele | ||||||
Deposited On: | 13 Jan 2010 13:14 | ||||||
Last Modified: | 31 Jul 2019 19:26 |
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