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Using Recognition to Guide a Robot

A. Thomas, V. Ferrari, B. Leibe, T. Tuytelaars, L. Van Gool
Robotics Science and Systems
Zurich, Switzerland, June 2008


In the transition from industrial to service robotics, robots will have to deal with increasingly unpredictable and variable environments. We present a system that is able to recognize objects of a certain class in an image and to identify their parts for potential interactions. This is demonstrated for object instances that have never been observed during training, and under partial occlusion and against cluttered backgrounds. Our approach builds on the Implicit Shape Model of Leibe and Schiele, and extends it to couple recognition to the provision of meta-data useful for a task. Meta-data can for example consist of part labels or depth estimates. We present experimental results on wheelchairs and cars.

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  author = {A. Thomas and V. Ferrari and B. Leibe and T. Tuytelaars and L. Van Gool},
  title = {Using Recognition to Guide a Robot},
  booktitle = {Robotics Science and Systems},
  year = {2008},
  month = {June},
  keywords = {}