Indoor Scene Recognition by 3-D Object Search

For Robot Programming by Demonstration

Pascal Meißner (Autor)

Buch | Hardcover

XIX, 262 Seiten

2019 | 1st ed. 2020
Springer International Publishing (Verlag)
978-3-030-31851-2 (ISBN)

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This book focuses on enabling mobile robots to recognize scenes in indoor environments, in order to allow them to determine which actions are appropriate at which points in time. In concrete terms, future robots will have to solve the classification problem represented by scene recognition sufficiently well for them to act independently in human-centered environments. To achieve accurate yet versatile indoor scene recognition, the book presents a hierarchical data structure for scenes - the Implicit Shape Model trees. Further, it also provides training and recognition algorithms for these trees. In general, entire indoor scenes cannot be perceived from a single point of view. To address this problem the authors introduce Active Scene Recognition (ASR), a concept that embeds canonical scene recognition in a decision-making system that selects camera views for a mobile robot to drive to so that it can find objects not yet localized. The authors formalize the automatic selection of cameraviews as a Next-Best-View (NBV) problem to which they contribute an algorithmic solution, which focuses on realistic problem modeling while maintaining its computational efficiency. Lastly, the book introduces a method for predicting the poses of objects to be searched, establishing the otherwise missing link between scene recognition and NBV estimation.

Introduction.- RelatedWork.- PassiveSceneRecognition.- ActiveSceneRecognition.- Evaluation.- Summary.- Appendix.

Erscheinungsdatum	28.10.2019
Reihe/Serie	Springer Tracts in Advanced Robotics
Zusatzinfo	XIX, 262 p. 116 illus., 89 illus. in color.
Verlagsort	Cham
Sprache	englisch
Maße	155 x 235 mm
Gewicht	594 g
Themenwelt	Informatik ► Grafik / Design ► Digitale Bildverarbeitung
	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
Schlagworte	3-D Object Search • Computer Vision for Robotics and Automation • Implicit Shape Models • Next-Best-View • Recognition • Robotics • Scene Understanding
ISBN-10	3-030-31851-6 / 3030318516
ISBN-13	978-3-030-31851-2 / 9783030318512
Zustand	Neuware