TY - GEN
T1 - Probabilistic relational scene representation and decision making under incomplete information for robotic manipulation Tasks
AU - Mojtahedzadeh, Rasoul
AU - Bouguerra, Abdelbaki
AU - Schaffernicht, Erik
AU - Lilienthal, Achim J.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - In This paper, we propose an approach for robotic manipulation systems To autonomously reason about Their environments under incomplete information. The Target application is To automate The Task of unloading The content of shipping containers. Our goal is To capture possible support relations between objects in partially known static configurations. We employ support vector machines (SVM) To estimate The probability of a support relation between pairs of detected objects using features extracted from Their geometrical properties and 3D sampled points of The scene. The set of probabilistic support relations is Then used for reasoning about optimally selecting an object To be unloaded first. The proposed approach has been extensively Tested and verified on data sets generated in simulation and from real world configurations.
AB - In This paper, we propose an approach for robotic manipulation systems To autonomously reason about Their environments under incomplete information. The Target application is To automate The Task of unloading The content of shipping containers. Our goal is To capture possible support relations between objects in partially known static configurations. We employ support vector machines (SVM) To estimate The probability of a support relation between pairs of detected objects using features extracted from Their geometrical properties and 3D sampled points of The scene. The set of probabilistic support relations is Then used for reasoning about optimally selecting an object To be unloaded first. The proposed approach has been extensively Tested and verified on data sets generated in simulation and from real world configurations.
UR - http://www.scopus.com/inward/record.url?scp=84929208915&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907695
DO - 10.1109/ICRA.2014.6907695
M3 - Conference contribution
AN - SCOPUS:84929208915
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5685
EP - 5690
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -