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Part-Based Geometric Categorization and Object Reconstruction in Cluttered Table-Top Scenes

Marton, Zoltan-Csaba and Balint-Benczedi, Ferenc and Martinez Mozos, Oscar and Blodow, Nico and Kanezaki, Asako and Goron, Lucian Cosmin and Pangercic, Dejan and Beetz, Michael (2014) Part-Based Geometric Categorization and Object Reconstruction in Cluttered Table-Top Scenes. Journal of Intelligent & Robotic Systems, 76 (1), pp. 35-56. Springer. DOI: 10.1007/s10846-013-0011-8 ISSN 0921-0296

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Official URL: http://link.springer.com/article/10.1007/s10846-013-0011-8


This paper presents an approach for 3D geometry-based object categorization in cluttered table-top scenes. In our method, objects are decomposed into different geometric parts whose spatial arrangement is represented by a graph. The matching and searching of graphs representing the objects is sped up by using a hash table which contains possible spatial configurations of the different parts that constitute the objects. Additive feature descriptors are used to label partially or completely visible object parts. In this work we categorize objects into five geometric shapes: sphere, box, flat, cylindrical, and disk/plate, as these shapes represent the majority of objects found on tables in typical households. Moreover, we reconstruct complete 3D models that include the invisible back-sides of objects as well, in order to facilitate manipulation by domestic service robots. Finally, we present an extensive set of experiments on point clouds of objects using an RGBD camera, and our results highlight the improvements over previous methods.

Item URL in elib:https://elib.dlr.de/93643/
Document Type:Article
Title:Part-Based Geometric Categorization and Object Reconstruction in Cluttered Table-Top Scenes
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
Blodow, Nicoblodow (at) cs.tum.eduUNSPECIFIED
Kanezaki, Asakokanezaki (at) mi.t.u-tokyo.ac.jpUNSPECIFIED
Goron, Lucian Cosmingoron (at) in.tum.deUNSPECIFIED
Pangercic, Dejandejan.pangercic (at) gmail.comUNSPECIFIED
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Date:21 September 2014
Journal or Publication Title:Journal of Intelligent & Robotic Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1007/s10846-013-0011-8
Page Range:pp. 35-56
Keywords:Object categorization 3D geometry Part-graph hashing Clutter Domestic robotics
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:07 Jan 2015 13:58
Last Modified:06 Sep 2019 15:20

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