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dc.contributor.authorRamisa Ayats, Arnau
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorMoreno-Noguer, Francesc
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2014-12-05T17:54:38Z
dc.date.available2014-12-05T17:54:38Z
dc.date.created2013
dc.date.issued2013
dc.identifier.citationRamisa, 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.urihttp://hdl.handle.net/2117/24950
dc.description.abstractMost 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.extent7 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshComputer vision
dc.subject.othercomputer vision feature extraction Author keywords: 3D descriptor
dc.subject.otherrange image
dc.subject.otherreal-time features Projectes: s'hauria de corregir el segon ítem
dc.subject.otherque inclou dos projectes: INtellact i VISen. Jo he probat de crear ViSen per separat
dc.subject.otherperò no apareix com creat (?)
dc.titleFINDDD: A fast 3D descriptor to characterize textiles for robot manipulation
dc.typeConference report
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.1109/IROS.2013.6696446
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Pattern recognition::Computer vision
dc.relation.publisherversionhttp://dx.doi.org/10.1109/IROS.2013.6696446
dc.rights.accessOpen Access
local.identifier.drac12997899
dc.description.versionPostprint (author’s final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT
local.citation.authorRamisa, A.; Alenyà, G.; Moreno-Noguer, F.; Torras, C.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.pubplaceTokyo
local.citation.publicationNameIROS 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.startingPage824
local.citation.endingPage830


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