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In this study, for multi-target tracking in an heavy-clutter environment, line detection-based validation algorithms are proposed for improving track initiation performance by reducing false tracks. Track validation algorithm is applied to the results of the base track initiation algorithm periodically and deviation from line evaluated based on a defined measure. Then, by thresholding the deviation...
Interaction with unstructured groups of objects allows a robot to discover and manipulate novel items in cluttered environments. We present a framework for interactive singulation of individual items from a pile. The proposed framework provides an overall approach for tasks involving operation on multiple objects, such as counting, arranging, or sorting items in a pile. A perception module combined...
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