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Indoor Scene Recognition by 3-D Object Search

For Robot Programming by Demonstration

  • Pascal  Meißner
Book

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 135)

Table of contents

  1. Front Matter
    Pages i-xix
  2. Pascal Meißner
    Pages 1-22
  3. Pascal Meißner
    Pages 23-42
  4. Pascal Meißner
    Pages 43-124
  5. Pascal Meißner
    Pages 125-176
  6. Pascal Meißner
    Pages 177-248
  7. Pascal Meißner
    Pages 249-258
  8. Back Matter
    Pages 259-262

About this book

Introduction

This book focuses on enabling mobile robots to recognize scenes in indoor environments, in order to allow them to determine which actions are appropriate at which points in time. In concrete terms, future robots will have to solve the classification problem represented by scene recognition sufficiently well for them to act independently in human-centered environments. To achieve accurate yet versatile indoor scene recognition, the book presents a hierarchical data structure for scenes – the Implicit Shape Model trees. Further, it also provides training and recognition algorithms for these trees. In general, entire indoor scenes cannot be perceived from a single point of view. To address this problem the authors introduce Active Scene Recognition (ASR), a concept that embeds canonical scene recognition in a decision-making system that selects camera views for a mobile robot to drive to so that it can find objects not yet localized. The authors formalize the automatic selection of camera views as a Next-Best-View (NBV) problem to which they contribute an algorithmic solution, which focuses on realistic problem modeling while maintaining its computational efficiency. Lastly, the book introduces a method for predicting the poses of objects to be searched, establishing the otherwise missing link between scene recognition and NBV estimation.

Keywords

Robotics Scene Understanding Recognition Computer Vision for Robotics and Automation 3-D Object Search Implicit Shape Models Next-Best-View

Authors and affiliations

  • Pascal  Meißner
    • 1
  1. 1.IAR-IPRKarlsruhe Institute of Technology KarlsruheGermany

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