TY - GEN
T1 - Estimation of spatio-temporal object properties for manipulation tasks from observation of humans
AU - Petsch, Susanne
AU - Burschka, Darius
PY - 2010
Y1 - 2010
N2 - We propose a system for vision-based estimation of manipulation-relevant properties of objects in natural scenes based on observation of human actions. The system consists of an a-priori (Atlas) knowledge about known generic objects in the scene and classifies the scene into mission relevant objects and background geometry that is important only for collision avoidance.We present the object-centric structure of our system consisting of an Atlas representation and a Working Memory storing the current knowledge about the scene, the manipulated objects and actions applied to them in the local environment. We present experimental results how the system maintains the information in the database and we show the quality of the results that can be obtained with our system.
AB - We propose a system for vision-based estimation of manipulation-relevant properties of objects in natural scenes based on observation of human actions. The system consists of an a-priori (Atlas) knowledge about known generic objects in the scene and classifies the scene into mission relevant objects and background geometry that is important only for collision avoidance.We present the object-centric structure of our system consisting of an Atlas representation and a Working Memory storing the current knowledge about the scene, the manipulated objects and actions applied to them in the local environment. We present experimental results how the system maintains the information in the database and we show the quality of the results that can be obtained with our system.
UR - http://www.scopus.com/inward/record.url?scp=77955805255&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509885
DO - 10.1109/ROBOT.2010.5509885
M3 - Conference contribution
AN - SCOPUS:77955805255
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 192
EP - 198
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -