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On Bayesian Inference for Embodied Perception of Object Poses

Marton, Zoltan-Csaba and Türker, Serkan (2013) On Bayesian Inference for Embodied Perception of Object Poses. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IROS Workshop on: Metrics of Embodied Learning Processes in Robots and Animals, 3-7 Nov 2013, Tokio, Japan. ISSN 1042-296X

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Official URL: http://www.heronrobots.com/EuronGEMSig/gem-sig-events/embodied-learning-metrics-iros2013

Abstract

This extended abstract describes a probabilistic approach for improving the object pose estimation accuracy of embodied agents. We propose a histogram filter that uses (and supports) the exploration capabilities of robots, and allows for the integration of multiple methods. We discuss the design of experiments to estimate the error model of a pose detection method, and present a suitable representation of the orientation histograms. This allows us to consider priors about likely object poses or symmetries and use information gain measures for method and view selection. The method is validated and compared to alternatives using real-world 3D images acquired using a next-best-view algorithm.

Item URL in elib:https://elib.dlr.de/90326/
Document Type:Conference or Workshop Item (Speech)
Title:On Bayesian Inference for Embodied Perception of Object Poses
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Türker, Serkanserkan.tuerker (at) gmail.comUNSPECIFIED
Date:7 November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
ISSN:1042-296X
Status:Published
Keywords:Bayesian filtering, pose estimation, 3D sensors, robotics
Event Title:IROS Workshop on: Metrics of Embodied Learning Processes in Robots and Animals
Event Location:Tokio, Japan
Event Type:Workshop
Event Dates:3-7 Nov 2013
Organizer:Euron SIG on Good Experimental Methodologies and Benchmarking and IEEE-TC PEBRAS
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:15 Dec 2014 22:00
Last Modified:31 Jul 2019 19:47

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