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Multi-View Object Recognition using View-Point Invariant Shape Relations and Appearance Information

Mustafa, W, Pugeault, N and Krueger, N (2013) Multi-View Object Recognition using View-Point Invariant Shape Relations and Appearance Information In: IEEE International Conference in Robotics and Automation (ICRA), 2013-05-06 - 2013-05-10, Karlsruhe, Germany.

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Abstract

We present an object recognition system coding shape by view-point invariant geometric relations and appearance. In our intelligent work-cell, the system can observe the work space of the robot by 3 pairs of Kinect and stereo cameras allowing for reliable and complete object information. We show that in such a set-up we can achieve high performance already with a low number of training samples. We show this by training the system to classify 56 objects using Random Forest algorithm. This indicates that our approach can be used in contexts such as assembly manipulation which require high reliability of object recognition.

Item Type: Conference or Workshop Item (Conference Paper)
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering
Authors :
AuthorsEmailORCID
Mustafa, WUNSPECIFIEDUNSPECIFIED
Pugeault, NUNSPECIFIEDUNSPECIFIED
Krueger, NUNSPECIFIEDUNSPECIFIED
Date : 6 May 2013
Identification Number : 10.1109/ICRA.2013.6631175
Contributors :
ContributionNameEmailORCID
PublisherIEEE, UNSPECIFIEDUNSPECIFIED
Depositing User : Symplectic Elements
Date Deposited : 13 Dec 2013 13:47
Last Modified : 09 Jun 2014 13:49
URI: http://epubs.surrey.ac.uk/id/eprint/797497

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