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Probabilistic Relational Scene Representation and Decision Making Under Incomplete Information for Robotic Manipulation Tasks
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0002-2392-7146
Örebro University, School of Science and Technology. (AASS MRO Lab)
Örebro University, School of Science and Technology. (AASS MRO Lab)
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-0217-9326
2014 (English)In: Robotics and Automation (ICRA), 2014 IEEE International Conference on, IEEE Robotics and Automation Society, 2014, 5685-5690 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we propose an approach for robotic manipulation systems to autonomously reason about their environments under incomplete information. The target application is to automate the task of unloading the content of shipping containers. Our goal is to capture possible support relations between objects in partially known static configurations. We employ support vector machines (SVM) to estimate the probability of a support relation between pairs of detected objects using features extracted from their geometrical properties and 3D sampled points of the scene. The set of probabilistic support relations is then used for reasoning about optimally selecting an object to be unloaded first. The proposed approach has been extensively tested and verified on data sets generated in simulation and from real world configurations.

Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2014. 5685-5690 p.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Keyword [en]
Containers, Manipulators, Industrial Robots, Object Detection, Support Vector Machines, Decision Making
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-40693DOI: 10.1109/ICRA.2014.6907695ISI: 000377221105109Scopus ID: 2-s2.0-84929208915ISBN: 978-1-4799-3685-4 (print)OAI: oai:DiVA.org:oru-40693DiVA: diva2:778503
Conference
2014 IEEE International Conference on Robotics and Automation (ICRA 2014, Hong Kong, China, May 31 - June 7, 2014
Projects
Cognitive Robot for Automation of Logistic Processes (RobLog)
Available from: 2015-01-10 Created: 2015-01-10 Last updated: 2017-10-18Bibliographically approved

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Mojtahedzadeh, RasoulBouguerra, AbdelbakiSchaffernicht, ErikLilienthal, Achim J.

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