NDLI: Active scene recognition for programming by demonstration using next-best-view estimates from hierarchical Implicit Shape Models

Content Provider	IEEE Xplore Digital Library
Author	Meisner, P. Reckling, R. Wittenbeck, V. Schmidt-Rohr, S.R. Dillmann, R.
Copyright Year	2014
Description	Author affiliation: Inst. of Anthropomatics, Karlsruhe Inst. of Technol., Karlsruhe, Germany (Meisner, P.; Reckling, R.; Wittenbeck, V.; Schmidt-Rohr, S.R.; Dillmann, R.)
Abstract	We present an approach that combines passive scene understanding with object search in order to recognize scenes in indoor environments that cannot be perceived from a single point of view. Passive scene recognition is performed using Implicit Shape Models based on spatial relations between objects. ISMs, a variant of the Generalized Hough Transform, are extended to describe scenes as sets of objects with relations lying between them. Relations are expressed as six-degree-of-freedom (DoF) relative object poses. They are extracted from sensor recordings of human demonstrations of actions usually taking place in the corresponding scene. In a scene ISMs solely represent relations of n objects towards a common reference. Violations of other relations are not detectable. To overcome this limitation, we extend our scene model, using hierarchical agglomerative clustering, to a binary tree consisting of ISMs. Active scene recognition aims to simultaneously detect present scenes and look for objects these scenes consist of. For a pivoting stereo camera rig, we achieve this by performing recognition with ISMs in an object search loop using next-best-view (NBV) estimates. A criterion, on which we greedily choose views the rig shall adopt next, is the confidence to detect objects in them. In each step during the search, confidences on potential positions of objects, not found yet, are calculated based on the best available scene hypothesis. This is done by reversing the principle of ISMs and using spatial relations to predict potential object positions starting from the objects already detected.
Starting Page	5585
Ending Page	5591
File Size	1066723
Page Count	7
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907680
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Search problems Robot sensing systems Trajectory Shape Computational modeling Planning
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
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

Hierarchical Ray Tracing for Fast Volumetric Next-Best-View Planning

Graph-based trajectory planning through programming by demonstration

Recognizing scenes with hierarchical Implicit Shape Models based on spatial object relations for Programming by Demonstration

Developing visual sensing strategies through next best view planning

A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot

Continual planning for search and rescue robots

An Adaptive Hierarchical Next-Best-View Algorithm for 3D Reconstruction of Indoor Scenes (2006)

Active modeling of 3-D objects: planning on the next best pose (NBP) for acquiring range images

Grasp, motion, view planning on dual-arm humanoid for manipulating in-hand object

Active scene recognition for programming by demonstration using next-best-view estimates from hierarchical Implicit Shape Models

Similar Documents

Hierarchical Ray Tracing for Fast Volumetric Next-Best-View Planning

Graph-based trajectory planning through programming by demonstration

Recognizing scenes with hierarchical Implicit Shape Models based on spatial object relations for Programming by Demonstration

Developing visual sensing strategies through next best view planning

A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot

Continual planning for search and rescue robots

An Adaptive Hierarchical Next-Best-View Algorithm for 3D Reconstruction of Indoor Scenes (2006)

Active modeling of 3-D objects: planning on the next best pose (NBP) for acquiring range images

Grasp, motion, view planning on dual-arm humanoid for manipulating in-hand object

Active scene recognition for programming by demonstration using next-best-view estimates from hierarchical Implicit Shape Models