NDLI: Visual grasp affordances from appearance-based cues

Content Provider	IEEE Xplore Digital Library
Author	Hyun Oh Song Fritz, M. Chunhui Gu Darrell, T.
Copyright Year	2011
Description	Author affiliation: UC Berkeley, USA (Hyun Oh Song; Chunhui Gu) \|\| ICSI, UC Berkeley, USA (Darrell, T.) \|\| MPI Informatics, USA (Fritz, M.)
Abstract	In this paper, we investigate the prediction of visual grasp affordances from 2D measurements. Appearance-based estimation of grasp affordances is desirable when 3-D scans are unreliable due to clutter or material properties. We develop a general framework for estimating grasp affordances from 2-D sources, including local texture-like measures as well as object-category measures that capture previously learned grasp strategies. Local approaches to estimating grasp positions have been shown to be effective in real-world scenarios, but are unable to impart object-level biases and can be prone to false positives. We describe how global cues can be used to compute continuous pose estimates and corresponding grasp point locations, using a max-margin optimization for category-level continuous pose regression. We provide a novel dataset to evaluate visual grasp affordance estimation; on this dataset we show that a fused method outperforms either local or global methods alone, and that continuous pose estimation improves over discrete output models.
Starting Page	998
Ending Page	1005
File Size	2445088
Page Count	8
File Format	PDF
ISBN	9781467300629
e-ISBN	9781467300636
DOI	10.1109/ICCVW.2011.6130360
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-11-06
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computational modeling Pipelines Estimation Detectors Robot sensing systems Three dimensional displays
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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