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Detecting objects of a category in range data by comparing to a single geometric prototype

Hillenbrand, Ulrich (2013) Detecting objects of a category in range data by comparing to a single geometric prototype. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokio, Japan. ISBN 978-1-4673-6357-0

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Abstract

Object detection is here considered as the problem of retrieving from scene data segments that belong to objects from the sought category. The method proposed and investigated works with dense range data, as can be acquired with low-cost sensors. It does not require any training, but just a single geometric prototype that may be taken from an internet repository. Experiments with various household and office scenes are reported, and the performance is quantified on a public dataset. One of the tested variants achieves an F-score and average precision of 94% at total recall, and a correct nearest-neighbor rate of 97%.

Item URL in elib:https://elib.dlr.de/85396/
Document Type:Conference or Workshop Item (Speech)
Title:Detecting objects of a category in range data by comparing to a single geometric prototype
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hillenbrand, Ulrichulrich.hillenbrand (at) dlr.deUNSPECIFIED
Date:2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
ISBN:978-1-4673-6357-0
Status:Published
Keywords:Recognition, Range Sensing, Perception for Grasping and Manipulation
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Tokio, Japan
Event Type:international Conference
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)
Deposited By: Hillenbrand, Ulrich
Deposited On:17 Dec 2013 12:48
Last Modified:31 Jul 2019 19:43

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