Continuous visual world modeling for autonomous robot manipulation

Arda Inceoglu; Cagatay Koc; Besim Ongun Kanat; Mustafa Ersen; Sanem Sariel

doi:10.1109/TSMC.2017.2787482

Continuous visual world modeling for autonomous robot manipulation

Arda Inceoglu^*, Cagatay Koc, Besim Ongun Kanat, Mustafa Ersen, Sanem Sariel

^*Bu çalışma için yazışmadan sorumlu yazar

Istanbul Technical University

Araştırma sonucu: Dergiye katkı › Makale › bilirkişi

13 Atıf (Scopus)

Özet

Service robots need to handle a variety of everyday manipulation tasks to accomplish household chores such as cooking and cleaning. Successful execution of these tasks is highly dependent on how reliable the robot perceives its environment through noisy sensing. We present a visual world modeling system for service robots to generate and maintain accurate models of their environments for continuous scenarios. This system is designed to provide a generic platform for both humanoid and ground manipulation robots using different types of vision sensors and algorithms. In our particular implementation, visual data processed by different perception algorithms are used for building and continuously updating a world model of the environment. We evaluate our system on a variety of object manipulation scenarios and show that the system produces consistent perception outcomes suitable for different manipulation tasks.

Orijinal dil	İngilizce
Makale numarası	8270600
Sayfa (başlangıç-bitiş)	192-205
Sayfa sayısı	14
Dergi	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Hacim	49
Basın numarası	1
DOI'lar	https://doi.org/10.1109/TSMC.2017.2787482
Yayın durumu	Yayınlandı - Oca 2019

Bibliyografik not

Publisher Copyright:
© 2013 IEEE.

Finansman

Manuscript received July 7, 2017; revised September 27, 2017; accepted December 7, 2017. Date of publication January 26, 2018; date of current version December 14, 2018. This work was supported by the Scientific and Technological Research Council of Turkey (TUBITAK) under Grant 115E-368. This paper was recommended by Associate Editor A. Hussain. (Corresponding author: Arda Inceoglu.) The authors are with the Artificial Intelligence and Robotics Laboratory, Department of Computer Engineering, Istanbul Technical University, 34469 Istanbul, Turkey (e-mail: [email protected]; [email protected]; [email protected]; [email protected]; [email protected]).

Finansörler	Finansör numarası
TUBITAK	115E-368
Türkiye Bilimsel ve Teknolojik Araştirma Kurumu

Belgeye Erişim

10.1109/TSMC.2017.2787482

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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title = "Continuous visual world modeling for autonomous robot manipulation",

abstract = "Service robots need to handle a variety of everyday manipulation tasks to accomplish household chores such as cooking and cleaning. Successful execution of these tasks is highly dependent on how reliable the robot perceives its environment through noisy sensing. We present a visual world modeling system for service robots to generate and maintain accurate models of their environments for continuous scenarios. This system is designed to provide a generic platform for both humanoid and ground manipulation robots using different types of vision sensors and algorithms. In our particular implementation, visual data processed by different perception algorithms are used for building and continuously updating a world model of the environment. We evaluate our system on a variety of object manipulation scenarios and show that the system produces consistent perception outcomes suitable for different manipulation tasks.",

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author = "Arda Inceoglu and Cagatay Koc and Kanat, {Besim Ongun} and Mustafa Ersen and Sanem Sariel",

note = "Publisher Copyright: {\textcopyright} 2013 IEEE.",

year = "2019",

month = jan,

doi = "10.1109/TSMC.2017.2787482",

language = "English",

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AU - Inceoglu, Arda

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AU - Kanat, Besim Ongun

AU - Ersen, Mustafa

AU - Sariel, Sanem

PY - 2019/1

Y1 - 2019/1

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AB - Service robots need to handle a variety of everyday manipulation tasks to accomplish household chores such as cooking and cleaning. Successful execution of these tasks is highly dependent on how reliable the robot perceives its environment through noisy sensing. We present a visual world modeling system for service robots to generate and maintain accurate models of their environments for continuous scenarios. This system is designed to provide a generic platform for both humanoid and ground manipulation robots using different types of vision sensors and algorithms. In our particular implementation, visual data processed by different perception algorithms are used for building and continuously updating a world model of the environment. We evaluate our system on a variety of object manipulation scenarios and show that the system produces consistent perception outcomes suitable for different manipulation tasks.

KW - 3-D perception

KW - service robots

KW - symbolic scene representation

KW - visual world modeling

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DO - 10.1109/TSMC.2017.2787482

M3 - Article

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SP - 192

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JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems

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ER -

Continuous visual world modeling for autonomous robot manipulation

Özet

Bibliyografik not

Finansman

Belgeye Erişim

Diğer Dosyalar ve Linkler

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