Difference between revisions of "Object Recognition"
From Robot Intelligence
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| − | = Object | + | = Object Identification = |
| − | * | + | * Shape-Based Feature Point Extraction |
| − | ** Contour | + | ** Contour Fragment-based SPCF (Sampled Points from Contour Fragments) features |
| + | |||
| + | * Descriptor Computation in Bisected Local Regions | ||
** Rotation-invariant shape contexts with geometric blur | ** Rotation-invariant shape contexts with geometric blur | ||
| + | ** Color histogram in the opponent color space | ||
| + | ::[[File:iden_blr.png|500px]] | ||
* Spectral Matching | * Spectral Matching | ||
| Line 12: | Line 16: | ||
** RANSAC-based outlier removal | ** RANSAC-based outlier removal | ||
| − | |||
| − | + | = Object Categorization = | |
| − | + | * Affine Category Shape Model | |
| − | + | ** Contour fragment-based SPCF (Sampled Points from Contour Fragments) features | |
| − | * Shape | + | |
| − | ** Contour | + | |
| − | + | ||
| − | + | ||
** Rotation-invariant shape contexts with geometric blur | ** Rotation-invariant shape contexts with geometric blur | ||
| − | |||
| − | |||
* Spectral Matching | * Spectral Matching | ||
| Line 31: | Line 28: | ||
* Object Localization | * Object Localization | ||
** RANSAC-based outlier removal | ** RANSAC-based outlier removal | ||
| + | |||
| + | ::[[File:cate_overview.png|800px]] | ||
| + | |||
| + | * Results | ||
| + | ::[https://youtu.be/d3mDFsgyzUc Video] | ||
| + | |||
| + | |||
| + | = Related Papers = | ||
| + | |||
| + | * Ju Han Yoo and '''Dong Hwan Kim''', [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7363521 "A New Robotic Context-Based Object Recognition Algorithm for Humanoid Robots,"] in ''Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015)'', pp. 47-52, Seoul, Korea, Nov. 2015. | ||
| + | |||
| + | * Yuli Chen, Yide Ma, '''Dong Hwan Kim''', and Sung-Kee Park, [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6975153 "Region-Based Object Recognition by Color Segmentation Using a Simplified PCNN,"] ''IEEE Transactions on Neural Networks and Learning Systems'', vol. 26, no. 8, pp. 1682-1697, Aug. 2015. | ||
| + | |||
| + | * RajeshKanna Ala, '''Dong Hwan Kim''', Sung Yul Shin, Chang Hwan Kim, and Sung-Kee Park, [http://www.sciencedirect.com/science/article/pii/S002002551400989X "A 3D-Grasp Synthesis Algorithm to Grasp Unknown Objects Based on Graspable Boundary and Convex Segments,"] ''Information Sciences'', vol. 295, pp. 91-106, Feb. 2015. | ||
| + | |||
| + | * Ju Han Yoo, '''Dong Hwan Kim''', and Sung-Kee Park, [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7066335 "Categorical Object Recognition Method Robust to Scale Changes Using Depth Data from an RGB-D Sensor,"] in ''Proceedings of the 33rd IEEE International Conference on Consumer Electronics (ICCE 2015)'', pp. 98-99, Las Vegas, NV, USA, Jan. 2015. | ||
| + | |||
| + | * '''Dong Hwan Kim''' and Sung-Kee Park, [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6776053 "Texture-less Object Recognition Using Contour Fragment-Based Features with Bisected Local Regions,"] in ''Proceedings of the 32nd IEEE International Conference on Consumer Electronics (ICCE 2014)'', pp. 388-389, Las Vegas, NV, USA, Jan. 2014. | ||
| + | |||
| + | * Yuli Chen, Yide Ma, '''Dong Hwan Kim''', and Sung-Kee Park, [http://www.scitepress.org/DigitalLibrary/PublicationsDetail.aspx?ID=eH7czQHjy5E=&t=1 "Object Recognition Based on a Simplified PCNN,"] in ''Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2012)'', vol. 2, pp. 223-229, Rome, Italy, July 2012. | ||
| + | |||
| + | * Soohwan Kim, Howon Cheong, '''Dong Hwan Kim''', and Sung-Kee Park, [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6088578 "Context-Based Object Recognition for Door Detection,"] in ''Proceedings of the 15th International Conference on Advanced Robotics (ICAR 2011)'', pp. 155-160, Tallinn, Estonia, June 2011. | ||
| + | |||
| + | * '''Dong Hwan Kim''' and Sung-Kee Park, "Object Class Detection Using Shape-Based Feature Descriptors," in ''Proceedings of the 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2010)'', pp. 195-197, Busan, Korea, Nov. 2010. | ||
| + | |||
| + | * Soohwan Kim, '''Dong Hwan Kim''', and Sung-Kee Park, [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5669918&filter%3DAND%28p_IS_Number%3A5669634%29%26pageNumber%3D15 "Object Modeling for Environment Perception through Human-Robot Interaction,"] in ''Proceedings of the 10th International Conference on Control, Automation and Systems (ICCAS 2010)'', pp. 2328-2333, Goyang, Korea, Oct. 2010. | ||
| + | |||
| + | * Soohwan Kim, '''Dong Hwan Kim''', and Sung-Kee Park, [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5651041 "On-line Object Segmentation through Human-Robot Interaction,"] in ''Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)'', pp. 1734-1739, Taipei, Taiwan, Oct. 2010. | ||
Latest revision as of 14:22, 20 June 2016
Object Identification
- Shape-Based Feature Point Extraction
- Contour Fragment-based SPCF (Sampled Points from Contour Fragments) features
- Descriptor Computation in Bisected Local Regions
- Rotation-invariant shape contexts with geometric blur
- Color histogram in the opponent color space
- Spectral Matching
- Pairwise geometric descriptors between features
- Object Localization
- RANSAC-based outlier removal
Object Categorization
- Affine Category Shape Model
- Contour fragment-based SPCF (Sampled Points from Contour Fragments) features
- Rotation-invariant shape contexts with geometric blur
- Spectral Matching
- Pairwise geometric descriptors between features
- Object Localization
- RANSAC-based outlier removal
- Results
Related Papers
- Ju Han Yoo and Dong Hwan Kim, "A New Robotic Context-Based Object Recognition Algorithm for Humanoid Robots," in Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), pp. 47-52, Seoul, Korea, Nov. 2015.
- Yuli Chen, Yide Ma, Dong Hwan Kim, and Sung-Kee Park, "Region-Based Object Recognition by Color Segmentation Using a Simplified PCNN," IEEE Transactions on Neural Networks and Learning Systems, vol. 26, no. 8, pp. 1682-1697, Aug. 2015.
- RajeshKanna Ala, Dong Hwan Kim, Sung Yul Shin, Chang Hwan Kim, and Sung-Kee Park, "A 3D-Grasp Synthesis Algorithm to Grasp Unknown Objects Based on Graspable Boundary and Convex Segments," Information Sciences, vol. 295, pp. 91-106, Feb. 2015.
- Ju Han Yoo, Dong Hwan Kim, and Sung-Kee Park, "Categorical Object Recognition Method Robust to Scale Changes Using Depth Data from an RGB-D Sensor," in Proceedings of the 33rd IEEE International Conference on Consumer Electronics (ICCE 2015), pp. 98-99, Las Vegas, NV, USA, Jan. 2015.
- Dong Hwan Kim and Sung-Kee Park, "Texture-less Object Recognition Using Contour Fragment-Based Features with Bisected Local Regions," in Proceedings of the 32nd IEEE International Conference on Consumer Electronics (ICCE 2014), pp. 388-389, Las Vegas, NV, USA, Jan. 2014.
- Yuli Chen, Yide Ma, Dong Hwan Kim, and Sung-Kee Park, "Object Recognition Based on a Simplified PCNN," in Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2012), vol. 2, pp. 223-229, Rome, Italy, July 2012.
- Soohwan Kim, Howon Cheong, Dong Hwan Kim, and Sung-Kee Park, "Context-Based Object Recognition for Door Detection," in Proceedings of the 15th International Conference on Advanced Robotics (ICAR 2011), pp. 155-160, Tallinn, Estonia, June 2011.
- Dong Hwan Kim and Sung-Kee Park, "Object Class Detection Using Shape-Based Feature Descriptors," in Proceedings of the 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2010), pp. 195-197, Busan, Korea, Nov. 2010.
- Soohwan Kim, Dong Hwan Kim, and Sung-Kee Park, "Object Modeling for Environment Perception through Human-Robot Interaction," in Proceedings of the 10th International Conference on Control, Automation and Systems (ICCAS 2010), pp. 2328-2333, Goyang, Korea, Oct. 2010.
- Soohwan Kim, Dong Hwan Kim, and Sung-Kee Park, "On-line Object Segmentation through Human-Robot Interaction," in Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), pp. 1734-1739, Taipei, Taiwan, Oct. 2010.
