For a mobile robot, we present an approach to recognize scenes in arrangements of objects distributed over cluttered environments. Recognition is made possible by letting the robot alternately search for objects and assign found objects to scenes. Our scene model "Implicit Shape Model (ISM) trees" allows us to solve these two tasks together. For the ISM trees, this article presents novel algorithms for recognizing scenes and predicting the poses of searched objects. We define scenes as sets of objects, where some objects are connected by 3-D spatial relations. In previous work, we recognized scenes using single ISMs. However, these ISMs were prone to false positives. To address this problem, we introduced ISM trees, a hierarchical model that includes multiple ISMs. Through the recognition algorithm it contributes, this article ultimately enables the use of ISM trees in scene recognition. We intend to enable users to generate ISM trees from object arrangements demonstrated by humans. The lack of a suitable algorithm is overcome by the introduction of an ISM tree generation algorithm. In scene recognition, it is usually assumed that image data is already available. However, this is not always the case for robots. For this reason, we combined scene recognition and object search in previous work. However, we did not provide an efficient algorithm to link the two tasks. This article introduces such an algorithm that predicts the poses of searched objects with relations. Experiments show that our overall approach enables robots to find and recognize object arrangements that cannot be perceived from a single viewpoint.
翻译:对于移动机器人, 我们提出一种方法来识别分布在杂乱环境中的物体安排中的场景。 通过让机器人轮流搜索对象和将发现的对象分配到场景, 使识别成为可能。 我们的场景模型“ 隐形形状模型( IMM) 树” 使我们可以一起解决这两项任务。 对于 IMM 树, 本条提供了识别场景和预测被搜索对象构成的新型算法。 我们把场景定义为成套天体, 一些天体通过3- D 空间关系连接在一起。 在以往的工作中, 我们通过使用单一的 IMSM 来识别场景。 但是, 这些ISM 很容易发现场景场景。 为了解决这个问题, 我们引入了一个包含多个IMM 的等级模型。 通过识别算法, 这篇文章最终使我们能够在现场识别中使用IMS树。 我们打算让用户能够从人类展示的物体安排中生成IMM 树的树。 我们无法通过引入 IMM 树 生成算法来克服缺乏合适的算法。 在现场认知中, 我们通常会假设图像目标已经存在假正的。 但是,, 我们总的图像对象不是一个用于搜索的选项的选项的选项。 。 然而, 将展示中, 展示中, 这个选项的选项将显示一个选项的选项的组合的组合。