Simultaneous segmentation of range and color images based on Bayesian decision theory

Boulanger, Pierre

doi:10.1109/cccrv.2004.1301422

Cited by 4 publications

(5 citation statements)

References 17 publications

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“…In general, to complete objectspecific grasping tasks manipulation approaches would need to be combined with an object detection or segmentation algorithm. There is a large literature on the problem of image segmentation [8] and range image segmentation [9], but most previous methods have a limited ability to extract objects from a cluttered scene. A large source for failures in object manipulation tasks is the lack of robustness of object detection and grasp selection algorithms.…”

Section: Related Workmentioning

confidence: 99%

Towards perceptual shared autonomy for robotic mobile manipulation

Pitzer

Styer

Bersch

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-Reliability and availability are major concerns for autonomous systems. A personal robot has to solve complex tasks, such as loading a dishwasher or folding laundry, which are very difficult to automate robustly. In order for a robot to perform better in those applications, it needs to be capable of accepting help from a human operator.Shared autonomy is a system model based on human-robot dialogue. This work aims at bridging the gap between full human control and full autonomy for tasks in the domain of personal robotics. One of the hardest problems for personal robotic systems is perception: perceiving and inferring about objects in the robot's environment. We present a system capable of solving the perceptual inference in combination with a human, such that a human operator functions as a resource for the robot and helps to compensate for limitations of autonomy.In this paper, we show how a human-robot team can work together effectively to solve complex perception tasks. We present a system that asks a human operator to identify objects it doesn't recognize or find. In various experiments with the PR2 robot we show that this shared autonomy system performs more robustly than the robot system alone and that it is capable of tasks which are difficult to accomplish by an autonomous agent.

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Section: Related Workmentioning

confidence: 99%

Towards perceptual shared autonomy for robotic mobile manipulation

Pitzer

Styer

Bersch

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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“…Such work has either used custom made sensors, as e.g. in [4], or more recently, timeof-flight sensors [8,3,5]. Another large body of similar work is stereo rig segmentation [1,20].…”

Section: Related Workmentioning

confidence: 99%

“…A structured light pattern is projected onto the scene, using a laser projector with a characteristic wavelength of 830 nm 4 . The structured light pattern is designed to have a negligible auto-correlation, and is imaged by the NIR camera.…”

Section: The Microsoft Kinectmentioning

confidence: 99%

Channel Coding for Joint Colour and Depth Segmentation

Wallenberg

Felsberg

Forssén

et al. 2011

Lecture Notes in Computer Science

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Abstract. Segmentation is an important preprocessing step in many applications. Compared to colour segmentation, fusion of colour and depth greatly improves the segmentation result. Such a fusion is easy to do by stacking measurements in different value dimensions, but there are better ways. In this paper we perform fusion using the channel representation, and demonstrate how a state-of-the-art segmentation algorithm can be modified to use channel values as inputs. We evaluate segmentation results on data collected using the Microsoft Kinect peripheral for Xbox 360, using the superparamagnetic clustering algorithm. Our experiments show that depth gradients are more useful than depth values for segmentation, and that channel coding both colour and depth gradients makes tuned parameter settings generalise better to novel images.

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“…Very few papers have studied segmentation using both distance and color information in real-world situations [14] [15]. In these papers, color and distance information is obtained by sensors from the real world, and distance information is represented in a series of three-dimensional planner patches.…”

Section: B Previous Workmentioning

confidence: 99%

Smart extraction of desired object from color-distance image with user’s tiny scribble

Shibuya

Shimohata

Harada

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Image segmentation is an important problem because it is required for many different applications. In particular, visual extraction of an object that is the target of attention or manipulation, is an increasingly important issue in robot vision. In real-world applications, a robot needs to extract an object designated by a human in a complicated environment. There is a large literature on the problem of image segmentation, but most previous methods have a limited ability to extract desired objects from a cluttered scene. Moreover, from the perspective of human-robot interfaces, it is desirable to make it as easy as possible for the user to indicate an object. In this paper, we propose a segmentation method, CD-matting, which can correctly extract a target object in complicated realworld visual situations. This method exploits color and distance information in an integrated way. The system requires only a simple input to designate the target object. We verify the proposed system by real-world experiments. The results show the effectiveness of our method in complicated situations. ExtractPoint out an object Fig. 1. Concept image of our method. One of the target applications is a robot manipulation system by simple user input.

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Simultaneous segmentation of range and color images based on Bayesian decision theory

Cited by 4 publications

References 17 publications

Towards perceptual shared autonomy for robotic mobile manipulation

Towards perceptual shared autonomy for robotic mobile manipulation

Channel Coding for Joint Colour and Depth Segmentation

Smart extraction of desired object from color-distance image with user’s tiny scribble

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Simultaneous segmentation of range and color images based on Bayesian decision theory

Cited by 4 publications

References 17 publications

Towards perceptual shared autonomy for robotic mobile manipulation

Towards perceptual shared autonomy for robotic mobile manipulation

Channel Coding for Joint Colour and Depth Segmentation

Smart extraction of desired object from color-distance image with user&#x2019;s tiny scribble

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Smart extraction of desired object from color-distance image with user’s tiny scribble