Birth of the Object: Detection of Objectness and Extraction of Object Shape through Object Action Complexes

Kraft, D, Pugeault, N, cseski, EB, Popović, M, Kragic, D, Kalkan, S, Wörgötter, F and Krüger, N (2009) Birth of the Object: Detection of Objectness and Extraction of Object Shape through Object Action Complexes International Journal of Humanoid Robotics, 5 (2). pp. 247-265.

	PDF BirthOfTheObject.pdf - Accepted version Manuscript Restricted to Repository staff only Available under License : See the attached licence file. Download (3MB)
	Plain Text (licence) licence.txt Restricted to Repository staff only Download (1kB)

Abstract

We describe a process in which the segmentation of objects as well as the extraction of the object shape becomes realized through active exploration of a robot vision system. In the exploration process, two behavioral modules that link robot actions to the visual and haptic perception of objects interact. First, by making use of an object independent grasping mechanism, physical control over potential objects can be gained. Having evaluated the initial grasping mechanism as being successful, a second behavior extracts the object shape by making use of prediction based on the motion induced by the robot. This also leads to the concept of an "object" as a set of features that change predictably over different frames.

Item Type:	Article
Authors :	Authors Email ORCID Kraft, D UNSPECIFIED UNSPECIFIED Pugeault, N UNSPECIFIED UNSPECIFIED cseski, EB UNSPECIFIED UNSPECIFIED Popović, M UNSPECIFIED UNSPECIFIED Kragic, D UNSPECIFIED UNSPECIFIED Kalkan, S UNSPECIFIED UNSPECIFIED Wörgötter, F UNSPECIFIED UNSPECIFIED Krüger, N UNSPECIFIED UNSPECIFIED
Date :	2009
Identification Number :	https://doi.org/10.1142/S021984360800139X
Depositing User :	Symplectic Elements
Date Deposited :	28 Mar 2017 14:59
Last Modified :	28 Mar 2017 14:59
URI:	http://epubs.surrey.ac.uk/id/eprint/39618

Actions (login required)

View Item

Downloads