Probabilistic Object Identification through On-demand Partial Views

Susana Brandão, Manuela Veloso, João P. Costeira

2014

Abstract

The current paper addresses the problem of object identification from multiple 3D partial views, collected from different view angles with the objective of disambiguating between similar objects. We assume a mobile robot equipped with a depth sensor that autonomously grasps an object from different positions, with no previous known pattern. The challenge is to efficiently combine the set of observations into a single classification. We approach the problem with a sequential importance resampling filter that allows to combine the sequence of observations and that, by its sampling nature, allows to handle the large number of possible partial views. In this context, we introduce innovations at the level of the partial view representation and at the formulation of the classification problem. We provide a qualitative comparison to support our representation and illustrate the identification process with a case study.

Paper Citation

in Harvard Style

Brandão S., Veloso M. and Costeira J. (2014). Probabilistic Object Identification through On-demand Partial Views . In Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014) ISBN 978-989-758-009-3, pages 717-722. DOI: 10.5220/0004855507170722

in Bibtex Style

@conference{visapp14,
author={Susana Brandão and Manuela Veloso and João P. Costeira},
title={Probabilistic Object Identification through On-demand Partial Views},
booktitle={Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014)},
year={2014},
pages={717-722},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004855507170722},
isbn={978-989-758-009-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014)
TI - Probabilistic Object Identification through On-demand Partial Views
SN - 978-989-758-009-3
AU - Brandão S.
AU - Veloso M.
AU - Costeira J.
PY - 2014
SP - 717
EP - 722
DO - 10.5220/0004855507170722