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Robotics research tends to focus upon either non-contact sensing or machine manipulation, but not both. This paper explores the benefits of combining the two by addressing the problem of classifying unknown objects, such as found in service robot applications. In the proposed approach, an object lies on a flat background, and the goal of the robot is to interact with and classify each object so that...
Object tracking and segmentation find a wide range of applications in robotics. Tracking and segmentation are difficult in cluttered and dynamic backgrounds. We propose a tracking and segmentation algorithm in which tracking and segmentation are performed consecutively. We separate input images into disjoint patches using an efficient oversegmentation algorithm. Objects and their background are described...
In this work, we make use of 3D visual contours carrying geometric as well as appearance information. Between these contours, we define 3D relations that encode structural information relevant to object-level operations such as similarity assessment and grasping. We show that this relational space can also be used as input features for learning which we exemplify for the grasping of unknown objects...
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