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Cumulative Object Categorization in Clutter

Marton, Zoltan-Csaba and Balint-Benczedi, Ferenc and Martinez Mozos, Oscar and Pangercic, Dejan and Beetz, Michael (2013) Cumulative Object Categorization in Clutter. 2nd Workshop on Robots in Clutter: Preparing Robots for the Real World (at RSS 2013), June 27, 2013, Berlin, Germany.


Official URL: http://workshops.acin.tuwien.ac.at/clutter2013


In this paper we present an approach based on scene- or part-graphs for geometrically categorizing touching and occluded objects, using additive RGBD feature descriptors and hashing of graph configuration parameters for describing the spatial arrangement of constituent parts. The presented experiments quantify that this method outperforms our earlier part-voting and sliding window classification. We evaluated our approach on cluttered scenes, and by using a 3D dataset containing over 15000 Kinect scans of over 100 objects which were grouped into general geometric categories. Additionally, color, geometric, and combined features were compared for categorization tasks.

Item URL in elib:https://elib.dlr.de/82896/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Cumulative Object Categorization in Clutter
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Balint-Benczedi, Ferencbalintbe (at) cs.uni-bremen.deUNSPECIFIED
Martinez Mozos, Oscaromozos (at) lincoln.ac.ukUNSPECIFIED
Pangercic, Dejandejan.pangercic (at) gmail.comUNSPECIFIED
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Date:27 June 2013
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:clutter, categorization, part-graph, RGB-D camera
Event Title:2nd Workshop on Robots in Clutter: Preparing Robots for the Real World (at RSS 2013)
Event Location:Berlin, Germany
Event Type:Workshop
Event Dates:June 27, 2013
Organizer:Michael Zillich, Vienna University of Technology, Austria; Maren Bennewitz, University of Freiburg, Germany; Maria Fox, King's College London, UK; Justus Piater, University of Innsbruck, Austria; Dejan Pangercic, Bosch RTC Palo Alto, USA
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 - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Marton, Dr. Zoltan-Csaba
Deposited On:15 Jul 2013 14:19
Last Modified:31 Jul 2019 19:41

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