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FINDDD: A fast 3D descriptor to characterize textiles for robot manipulation
dc.contributor.author | Ramisa Ayats, Arnau |
dc.contributor.author | Alenyà Ribas, Guillem |
dc.contributor.author | Moreno-Noguer, Francesc |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2014-12-05T17:54:38Z |
dc.date.available | 2014-12-05T17:54:38Z |
dc.date.created | 2013 |
dc.date.issued | 2013 |
dc.identifier.citation | Ramisa, A. [et al.]. FINDDD: A fast 3D descriptor to characterize textiles for robot manipulation. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2013: New Horizon Conference Digest: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems: Tokyo, Big Sight, Tokyo, Japan, November 3-8, 2013". Tokyo: Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 824-830. |
dc.identifier.uri | http://hdl.handle.net/2117/24950 |
dc.description.abstract | Most current depth sensors provide 2.5D range images in which depth values are assigned to a rectangular 2D array. In this paper we take advantage of this structured information to build an efficient shape descriptor which is about two orders of magnitude faster than competing approaches, while showing similar performance in several tasks involving deformable object recognition. Given a 2D patch surrounding a point and its associated depth values, we build the descriptor for that point, based on the cumulative distances between their normals and a discrete set of normal directions. This processing is made very efficient using integral images, even allowing to compute descriptors for every range image pixel in a few seconds. The discriminative power of our descriptor, dubbed FINDDD, is evaluated in three different scenarios: recognition of specific cloth wrinkles, instance recognition from geometry alone, and detection of reliable and informed grasping points. |
dc.format.extent | 7 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Computer vision |
dc.subject.other | computer vision feature extraction Author keywords: 3D descriptor |
dc.subject.other | range image |
dc.subject.other | real-time features Projectes: s'hauria de corregir el segon ítem |
dc.subject.other | que inclou dos projectes: INtellact i VISen. Jo he probat de crear ViSen per separat |
dc.subject.other | però no apareix com creat (?) |
dc.title | FINDDD: A fast 3D descriptor to characterize textiles for robot manipulation |
dc.type | Conference report |
dc.subject.lemac | Robòtica |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1109/IROS.2013.6696446 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Pattern recognition::Computer vision |
dc.relation.publisherversion | http://dx.doi.org/10.1109/IROS.2013.6696446 |
dc.rights.access | Open Access |
local.identifier.drac | 12997899 |
dc.description.version | Postprint (author’s final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT |
local.citation.author | Ramisa, A.; Alenyà, G.; Moreno-Noguer, F.; Torras, C. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | Tokyo |
local.citation.publicationName | IROS 2013: New Horizon Conference Digest: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems: Tokyo, Big Sight, Tokyo, Japan, November 3-8, 2013 |
local.citation.startingPage | 824 |
local.citation.endingPage | 830 |