For robot manipulators, it is nowadays necessary to know their surroundings. This knowledge consists at least of a world representation with recognized objects. During the reconstruction of scene objects from multiple views, changes, like positioning of the objects, or additional unwanted signals, like parts of a human co-worker, may occur. In this paper, we classify the possible changes for a specific type of representation (boundary representation models). Afterwards, we present an approach to detect and handle these changes to maintain a valid world model. To achieve this, we compare what should be visible in the world model reconstructed thus far with the actual information from the current view. The detected change is handled by using object hypotheses as well as geometric information from the world representation. Based on an evaluation, we show a proof of concept and the usefulness of our approach and suggest future work.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Detection and Handling of Dynamic Scenes During an Active Vision Process for Object Recognition Using a Boundary Representation


    Beteiligte:
    Schüppstuhl, Thorsten (Herausgeber:in) / Tracht, Kirsten (Herausgeber:in) / Fleischer, Jürgen (Herausgeber:in) / Rohner, Dorian (Autor:in) / Hartwig, Johannes (Autor:in) / Henrich, Dominik (Autor:in)

    Kongress:

    MHI Colloquium ; 2022 ; Karlsruhe, Germany July 20, 2022 - July 21, 2022



    Erscheinungsdatum :

    2023-07-11


    Format / Umfang :

    11 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Bayesian object detection in dynamic scenes

    Sheikh, Y. / Shah, M. | IEEE | 2005


    Mono-Vision Based Moving Object Detection in Complex Traffic Scenes

    Fremont, Vincent / Rodriguez, Sergio / Wang, Bihao | British Library Conference Proceedings | 2017


    Mono-vision based moving object detection in complex traffic scenes

    Fremont, Vincent / Florez, Sergio Alberto Rodriguez / Wang, Bihao | IEEE | 2017


    Applying a Dynamic Recognition Scheme for Vehicle Recognition in Many Object Traffic Scenes

    Kasprzak, W. / Niemann, H. / International Association for Pattern Recognition | British Library Conference Proceedings | 1996


    Dynamic Environment Prediction in Urban Scenes using Recurrent Representation Learning

    Itkina, Masha / Driggs-Campbell, Katherine / Kochenderfer, Mykel J. | IEEE | 2019