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For learning object models, we made initial scan alignment more robust by adapting the point-pair feature object detection and pose estimation method of Papazov et al. (ACCV 2010). We only allow transformations that are close to the expected ones in the RANSAC step. For active object perception, we extended the simulation...
[Last edited
Mar 28, 2012
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We conducted experiments where the robot has to actively perceive partially occluded objects which showed that considering object detection results when planning the next view can help finding more objects. We integrated the components developed in ActReMa into a bin-picking application, performed by the cognitive service...
[Last edited
Jun 15, 2012
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