An integrated approach to visual perception of articulated objects
An integrated approach to visual perception of articulated objects
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DOI：
10.1109/icra.2016.7487714
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发表时间：
2016-05
期刊：
影响因子：
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通讯作者：
R. M. Martin;S. Höfer;O. Brock
中科院分区：
文献类型：
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作者：
R. M. Martin;S. Höfer;O. Brock
我们提出一种用于感知未知关节物体的综合方法。为了稳健地感知物体并理解交互，我们的方法紧密集成了姿态跟踪、形状重建以及它们的运动学结构估计。我们方法的关键见解是这些子问题相互补充：例如，了解物体的形状会极大地促进跟踪，而如果知道物体的运动，则形状和运动学结构可以更容易地重建。我们的组合方法利用这些协同作用来提高感知性能。我们使用各种刚性和关节物体在一般情况和困难场景下分析所提出的方法。结果表明，我们的综合解决方案比针对单个问题的解决方案取得了更好的结果。这证明了以综合方式处理机器人感知问题的益处。
We present an integrated approach for perception of unknown articulated objects. To robustly perceive objects and understand interactions, our method tightly integrates pose tracking, shape reconstruction, and the estimation of their kinematic structure. The key insight of our method is that these sub-problems complement each other: for example, tracking is greatly facilitated by knowing the shape of the object, whereas the shape and the kinematic structure can be more easily reconstructed if the motion of the object is known. Our combined method leverages these synergies to improve the performance of perception. We analyze the proposed method in average cases and difficult scenarios using a variety of rigid and articulated objects. The results show that our integrated solution achieves better results than solutions for the individual problems. This demonstrates the benefits of approaching robot perception problems in an integrated manner.