Object detection and segmentation in cluttered scenes through - PowerPoint PPT Presentation

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Object detection and segmentation in cluttered scenes through perception and manipulation Julius Adorf 27.07.2011 Resolving a cluttered scene - Problem Resolving a cluttered scene - Challenge Demo video

Object detection and segmentation in cluttered scenes through perception and manipulation Julius Adorf 27.07.2011
Resolving a cluttered scene - Problem
Resolving a cluttered scene - Challenge
Demo video http://www.youtube.com/watch?v=60bs-lSDgeU
Starting with ROS packages ◮ Textured Object Detection (TOD) stack ◮ by Willow Garage ◮ very experimental ◮ Solutions in Perception Challenge, ICRA 2011 ◮ http://www.ros.org/wiki/tod detecting ◮ http://www.ros.org/wiki/tod training
Selecting the approach 4. Ranking , refinement , rejection
Describing local features - Oriented BRIEF (ORB) “Oriented BRIEF = FAST + Harris Response + modified BRIEF”
Matching local features - Locality-Sensitive-Hashing (LSH)
Estimating poses - Random Sample Consensus
Making the system robust
Finding good parameters ◮ factorial design intractable; 5 levels, 10 parameters: 5 10 ≈ 10 6 . ◮ success if errors less than 3cm and 20 degrees ◮ LSH does not decrease success rate ◮ 80% success on validation set
Evaluating the results - Many
Evaluating the results - Duplicates
Evaluating the results - Clutter
Future work In-hand modelling Ground truth collection for cluttered scenes Evaluation of Willow’s announced replacement of tod * Incorporate feature uncertainty Include 3D information

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