Combined 2D–3D categorization and classification for multimodal perception systems

Zoltan-Csaba Marton, Dejan Pangercic, Nico Blodow, Michael Beetz
2011 The international journal of robotics research  
This article describes an object perception system for autonomous robots performing everyday manipulation tasks in kitchen environments. The perception system gains its strengths by exploiting that the robots are to perform the same kinds of tasks with the same objects over and over again. It does so by learning the object representations necessary for the recognition and reconstruction in the context of pick and place tasks. The system employs a library of specialized perception routines that
more » ... olve different, well-defined perceptual sub-tasks and can be combined into composite perceptual activities including the construction of an object model database, multi-modal object classification, and object model reconstruction for grasping. We evaluate the effectiveness of our methods, and give examples of application scenarios using our personal robotic assistants acting in a human living environment.
doi:10.1177/0278364911415897 fatcat:vusnr77u55aspk4ubgqkauqe7q