Combined 2D-3D categorization and classification for multimodal perception systems
The International Journal of Robotics Research(2011)
摘要
In this article we describe an object perception system for autonomous robots performing everyday manipulation tasks in kitchen environments. The perception system gains its strengths by exploiting that the robots are to perform the same kinds of tasks with the same objects over and over again. It does so by learning the object representations necessary for the recognition and reconstruction in the context of pick-and-place tasks. The system employs a library of specialized perception routines that solve different, well-defined perceptual sub-tasks and can be combined into composite perceptual activities including the construction of an object model database, multimodal object classification, and object model reconstruction for grasping. We evaluate the effectiveness of our methods, and give examples of application scenarios using our personal robotic assistants acting in a human living environment.
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关键词
perception system,object representation,specialized perception routine,object model database,composite perceptual activity,object model reconstruction,multimodal perception system,multimodal object classification,object perception system,application scenario,well-defined perceptual sub-tasks,3d reconstruction,bag of words,object model,modeling
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