Difference between revisions of "Object Recognition"

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= Object Categorization =
+
= Object Identification =
  
* Affine Category Shape Model
+
* Shape-Based Feature Point Extraction
** Contour fragment-based SPCF (Sampled Points from Contour Fragments) features
+
** 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
  
::[[File:cate_overview.png|800px]]
 
  
::[https://youtu.be/V-ZIPw0ksTM Video]
+
= Object Categorization =
  
= Object Identification =
+
* Affine Category Shape Model
 
+
** Contour fragment-based SPCF (Sampled Points from Contour Fragments) features
* 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
 
** Rotation-invariant shape contexts with geometric blur
** Color histogram in the  opponent color space
 
::[[File:iden_blr.png|500px]]
 
  
 
* 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
Iden blr.png
  • Spectral Matching
    • Pairwise geometric descriptors between features
Cate pairwise.png
  • 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
Cate overview.png
  • Results
Video


Related Papers

  • 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.
  • 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.