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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Rogez, Gregory Supancic, James S. Ramanan, Deva |
| Copyright Year | 2015 |
| Abstract | We analyze functional manipulations of handheld objects, formalizing the problem as one of fine-grained grasp classification. To do so, we make use of a recently developed fine-grained taxonomy of human-object grasps. We introduce a large dataset of 12000 RGB-D images covering 71 everyday grasps in natural interactions. Our dataset is different from past work (typically addressed from a robotics perspective) in terms of its scale, diversity, and combination of RGB and depth data. From a computer-vision perspective, our dataset allows for exploration of contact and force prediction (crucial concepts in functional grasp analysis) from perceptual cues. We present extensive experimental results with state-of-the-art baselines, illustrating the role of segmentation, object context, and 3D-understanding in functional grasp analysis. We demonstrate a near 2X improvement over prior work and a naive deep baseline, while pointing out important directions for improvement. |
| Starting Page | 3889 |
| Ending Page | 3897 |
| File Size | 3065915 |
| Page Count | 9 |
| File Format | |
| ISSN | 23807504 |
| e-ISBN | 9781467383912 |
| DOI | 10.1109/ICCV.2015.443 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-12-07 |
| Publisher Place | Chile |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Taxonomy Force Three-dimensional displays Solid modeling Robots Kinematics Cameras |
| Content Type | Text |
| Resource Type | Article |
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