NDLI: 3D piecewise planar object model for robotics manipulation

Content Provider	IEEE Xplore Digital Library
Author	Prankl, J. Zillich, M. Vincze, M.
Copyright Year	2011
Description	Author affiliation: Automation and Control Institute, Vienna University of Technology, Austria (Prankl, J.; Zillich, M.; Vincze, M.)
Abstract	Man-made environments are abundant with planar surfaces which have attractive properties for robotics manipulation tasks and are a prerequisite for a variety of vision tasks. This work presents automatic on-line 3D object model acquisition assuming a robot to manipulate the object. Objects are represented with piecewise planar surfaces in a spatio-temporal graph. Planes once detected as homographies are tracked and serve as priors in subsequent images. After reconstruction of the planes the 3D motion is analyzed and initial object hypotheses are created. In case planes start moving independently a split event is triggered, the spatio-temporal object graph is traced back and visible planes as well as occluded planes are assigned to the most probable split object. The novelty of this framework is to formalize Multi-body Structure-and-Motion (MSaM), that is, to segment interest point tracks into different rigid objects and compute the multiple-view geometry of each object, with Minimal Description Length (MDL) based on model selection of planes in an incremental manner. Thus, object models are built from planes, which directly can be used for robotic manipulation.
Starting Page	1784
Ending Page	1790
File Size	1272260
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979935
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three dimensional displays Solid modeling Computational modeling Tracking Robots Merging Cameras
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
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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