INTEGRATION OF 2D IMAGES AND RANGE DATA FOR OBJECT SEGMENTATION AND RECOGNITION

Download

index.pdf

Date

2009-09-11

Author

Bayramoglu, Neslihan
Akman, Oytun
Alatan, Abdullah Aydın
Jonker, Pieter

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

19
views

0
downloads

In the field of vision based robot actuation, in order to manipulate objects in an environment, background separation and object selection a re fundamental tasks that should be carried out in a fast and efficient way. In this paper, we propose a method to segment possible object locations in the scene and recognize them via local-point based representation. Exploiting the resulting 3D structure of the scene via a time-of-flight camera, background regions are eliminated with the assumption that the objects are placed on planar surfaces. Next, object recognition is performed using scale invariant features in the captured high resolution images via standard camera. The preliminary experimental results show that the proposed system gives promising results for background segmentation and object recognition, especially for the service robot environments, which could also be utilized as a pre-processing step in path planning and 3D scene map generation.

Subject Keywords

Scene analysis, Segmentation, Object recognition, Range Data, Time-of-flight camera, SIFT

URI

https://hdl.handle.net/11511/46630

DOI

https://doi.org/10.1142/9789814291279_0113

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Design and implementation of a 3D range scanner for mobile robots ASLAN, Gökhan; Konukseven, Erhan İlhan; Koku, Ahmet Buğra (2014-01-06) In an efficient autonomous navigation and exploration, the robots should sense the environment as exactly as possible in real-time and act correctly on the basis of the acquired 3D data. Laser scanners have been used for the last 30 years for mobile robot navigation. However, they often did not enough speed, accuracy and field of view. In this paper we present the design and implementation of a scanning platform, which can be used for both outdoor and indoor mobile robot navigation and mapping. A 3D scannin...
Evaluation of UAS Camera Operator Interfaces in a Simulated Task Environment An Optical Brain Imaging Approach Çakır, Murat Perit; Akay, Daryal; Ayaz, Hasan; İşler, Veysi (null; 2012-07-11) In this paper we focus on the effect of different interface designs on the performance and cognitive workload of sensor operators (SO) during a target detection task in a simulated environment. Functional near-infrared (fNIR) spectroscopy is used to investigate whether there is a relationship between target detection performance across three SO interfaces and brain activation data obtained from the subjects’ prefrontal cortices that are associated with relevant higher-order cognitive functions such as atten...
Design and implementation of a plug-in framework for distributed object technologies Kadıoğlu, Koray; Doğru, Ali Hikmet; Department of Computer Engineering (2006) This thesis presents a framework design and implementation that enables run-time selection of different remote call mechanisms. In order to implement an extendable and modular system with run-time upgrading facility, a plug-in framework design is used. Since such a design requires enhanced usage of run-time facilities of the programming language that is used to implement the framework, in this study Java is selected because of its reflection and dynamic class loading facilities. A sample usage of this frame...
A Framework for Machine Vision based on Neuro-Mimetic Front End Processing and Clustering Akbaş, Emre; ECKSTEIN, Miguel; MADHOW, Upamanyu (2014-10-03) Convolutional deep neural nets have emerged as a highly effective approach for machine vision, but there are a number of open issues regarding training (e.g., a large number of model parameters to be learned, and a number of manually tuned algorithm parameters) and interpretation (e.g., geometric interpretations of neurons at various levels of the hierarchy). In this paper, our goal is to explore alternative convolutional architectures which are easier to interpret and simpler to implement. In particular, w...
Design of a variable five-axes adjustable configuration robot manipulator YUCEL, AS; Ersak, Aydın (1994-04-14) A robot manipulator design is presented in this paper supplying a few kinematical configurations in a single structure which is in the mean time, reconfigurable for given tasks and hence making the level of flexibility and adaptability much higher for changing working environments

Citation Formats

N. Bayramoglu, O. Akman, A. A. Alatan, and P. Jonker, “INTEGRATION OF 2D IMAGES AND RANGE DATA FOR OBJECT SEGMENTATION AND RECOGNITION,” 2009, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/46630.