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Probabilistic Relational Scene Representation and Decision Making Under Incomplete Information for Robotic Manipulation Tasks
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)ORCID-id: 0000-0002-2392-7146
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)ORCID-id: 0000-0003-0217-9326
2014 (engelsk)Inngår i: Robotics and Automation (ICRA), 2014 IEEE International Conference on, IEEE Robotics and Automation Society, 2014, s. 5685-5690Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
IEEE Robotics and Automation Society, 2014. s. 5685-5690
Serie
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Emneord [en]
Containers, Manipulators, Industrial Robots, Object Detection, Support Vector Machines, Decision Making
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-40693DOI: 10.1109/ICRA.2014.6907695ISI: 000377221105109Scopus ID: 2-s2.0-84929208915ISBN: 978-1-4799-3685-4 (tryckt)OAI: oai:DiVA.org:oru-40693DiVA, id: diva2:778503
Konferanse
2014 IEEE International Conference on Robotics and Automation (ICRA 2014, Hong Kong, China, May 31 - June 7, 2014
Prosjekter
Cognitive Robot for Automation of Logistic Processes (RobLog)Tilgjengelig fra: 2015-01-10 Laget: 2015-01-10 Sist oppdatert: 2018-01-11bibliografisk kontrollert

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Mojtahedzadeh, RasoulBouguerra, AbdelbakiSchaffernicht, ErikLilienthal, Achim J.

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