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A cell occupancy map has been used widely for efficiently representing obstacles in robotic navigation. Such a map can often be formed based on the multi-resolution octree representation (MOR) of 3D point clouds captured from objects and workspace. This elevated cell-based approach may offer the capability of understanding the geometric context of workspace, expanding its applicability to robotic...
Presented in this paper is an approach to real-time spatial reasoning for manipulative robotic tasks. When a service robot is requested to manipulate an object, it should determine the directions along which it can access and remove the object. The potential accessible directions for the object are retrieved from the object database. Then, spatial reasoning with the surrounding environment and the...
A "cognitive robotic engine (CRE)" that generates perceptual and action behaviors to select and collect an optimal set of evidences has been introduced previously by the authors. CRE aims at enabling a robot to be capable of dependable and robust recognition and decision under a high level of uncertainty and ambiguity in perception. This paper improves the performance of CRE based on the...
For robust 3D object recognition in the environment having diverse variances, it is necessary to increase the certainty by using consecutive scenes rather than using a single scene and combining different features. This paper proposes a novel 3D object recognition and pose estimation approach based on combining photometric feature (SIFT) and geometric feature (3D lines) in a sequence of scenes. In...
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