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Probabilistic models for robot-based object segmentation


Reference:

Beale, D., Iravani, P. and Hall, P., 2011. Probabilistic models for robot-based object segmentation. Robotics and Autonomous Systems, 59 (12), pp. 1080-1089.

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    Official URL:

    http://dx.doi.org/10.1016/j.robot.2011.08.003

    Abstract

    This paper introduces a novel probabilistic method for robot based object segmentation. The method integrates knowledge of the robot's motion to determine the shape and location of objects. This allows a robot with no prior knowledge of its workspace to isolate objects against their surroundings by moving them and observing their visual feedback. The main contribution of the paper is to improve upon current methods by allowing object segmentation in changing environments and moving backgrounds. The approach allows optimal values for the algorithm parameters to be estimated. Empirical studies against alternatives demonstrate clear improvements in both planar and three dimensional motion.

    Details

    Item Type Articles
    CreatorsBeale, D., Iravani, P. and Hall, P.
    DOI10.1016/j.robot.2011.08.003
    DepartmentsFaculty of Engineering & Design > Mechanical Engineering
    Faculty of Science > Computer Science
    Publisher StatementBeale_RAS_2011.pdf: NOTICE: this is the author’s version of a work that was accepted for publication in Robotics and Autonomous Systems. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Robotics and Autonomous Systems, Vol 59, Issue 12, 2011, DOI 10.1016/j.robot.2011.08.003
    RefereedYes
    StatusPublished
    ID Code26159

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