Generic Object Discrimination for Mobile Assistive Robots using Projective Light Diffusion

Panagiotis Papadakis 1, 2 David Filliat 3, 4
1 Lab-STICC_IMTA_CID_IHSEV
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
4 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
Abstract : A number of assistive robot services depend on the classification of objects while dealing with an increased volume of sensory data, scene variability and limited computational resources. We propose using more concise representations via a seamless combination of photometric and geometric features fused by exploiting local photometric/geometric correlation and employing domain transform filtering in order to recover scene structure. This is obtained through a projective light diffusion imaging process (PLDI) which allows capturing surface orientation, image edges and global depth gradients into a single image. Object candidates are finally encoded into a discriminative, wavelet-based de-scriptor allowing very fast object queries. Experiments with an indoor robot demonstrate improved classification performance compared to alternative methods and an overall superior discriminative power compared to state-of-the-art unsupervised descriptors within ModelNet10 benchmark.
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WACV 2018 - IEEE Winter Conference on Applications of Computer Vision, Workshop CV-AAL - Computer Vision for Active and Assisted Living, Mar 2018, Reno, United States. pp.1-9
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Panagiotis Papadakis, David Filliat. Generic Object Discrimination for Mobile Assistive Robots using Projective Light Diffusion. WACV 2018 - IEEE Winter Conference on Applications of Computer Vision, Workshop CV-AAL - Computer Vision for Active and Assisted Living, Mar 2018, Reno, United States. pp.1-9. 〈hal-01699842〉

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