Scene recognition for mobile robots by relational object search using next-best-view estimates from hierarchical implicit shape models

Pascal Meißner*, Ralf Schleicher, Robin Hutmacher, Sven R. Schmidt-Rohr, Rüdiger Dillmann

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We present an approach for recognizing indoor scenes in object constellations that require object search by a mobile robot, as they cannot be captured from a single viewpoint. In our approach that we call Active Scene Recognition (ASR), robots predict object poses from learnt spatial relations that they combine with their estimates about present scenes. Our models for estimating scenes and predicting poses are Implicit Shape Model (ISM) trees from prior work [1]. ISMs model scenes as sets of objects with spatial relations in-between and are learnt from observations. In prior work [2], we presented a realization of ASR, limited to choosing orientations for a fixed robot head with an approach to search objects that uses positions and ignores types. In this paper, we introduce an integrated system that extends ASR to selecting positions and orientations of camera views for a mobile robot with a pivoting head. We contribute an approach for Next-Best-View estimation in object search on predicted object poses. It is defined on 6 DoF viewing frustums and optimizes the searched view, together with the objects to be searched in it, based on 6 DoF pose predictions. To prevent combinatorial explosion when searching camera pose space, we introduce a hierarchical approach to sample robot positions with increasing resolution.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages137-144
Number of pages8
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - 28 Nov 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16

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  • Cite this

    Meißner, P., Schleicher, R., Hutmacher, R., Schmidt-Rohr, S. R., & Dillmann, R. (2016). Scene recognition for mobile robots by relational object search using next-best-view estimates from hierarchical implicit shape models. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 137-144). [7759046] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759046