elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Fusing Color and Geometry Information for Understanding Cluttered Scenes

Thomas, Ulrike and Kriegel, Simon and Suppa, Michael (2014) Fusing Color and Geometry Information for Understanding Cluttered Scenes. In: IEEE RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems IROS: Robots in Clutter Workshop, 18. Sep. 2014, Chicago, Illinois, USA.

[img] PDF
2MB

Official URL: http://workshops.acin.tuwien.ac.at/clutter2014/

Abstract

In this paper, we introduce a new image processing pipeline for scene recognition and pose estimation in robotic applications. Unknown objects are autonomously modeled resulting in geometric 3D models and color images. Theses models are then used for object recognition in cluttered scenes by merging color and geometry information. Our recognition approach generates new suitable feature vectors and uses RANSAC to obtain promising hypotheses of recognized object poses for the scene. RANSAC is widely used for scene understanding. For making RANSAC applicable, it is very important to implement this algorithm efficiently and to reject hypotheses as early as possible in the scene understanding pipeline. By using color information many hypotheses can be rejected early in the recognition pipeline. With our approach we provide an efficient implementation of a scene analyzing pipeline while fusing color and geometric information. Moreover, we are able to learn new objects by a fast autonomous scanning process and no further runs through time consuming learning algorithms are necessary. The complete pipeline from scanning to scene understanding is described. The evaluated scenes consist of several household objects. Some of them vary only in texture and not in shape.

Item URL in elib:https://elib.dlr.de/90880/
Document Type:Conference or Workshop Item (Speech)
Title:Fusing Color and Geometry Information for Understanding Cluttered Scenes
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Thomas, Ulrikeulrike.thomas (at) dlr.deUNSPECIFIED
Kriegel, Simonsimon.kriegel (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:18 September 2014
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
Status:Published
Keywords:object recognition, pose estimation, autonomous 3d modeling
Event Title:International Conference on Intelligent Robots and Systems IROS: Robots in Clutter Workshop
Event Location:Chicago, Illinois, USA
Event Type:international Conference, Workshop
Event Dates:18. Sep. 2014
Organizer:IEEE/RSJ
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: Kriegel, Dr. Simon
Deposited On:23 Oct 2014 13:33
Last Modified:31 Jul 2019 19:48

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.