Springer Tracts in Advanced Robotics

Indoor Scene Recognition by 3-D Object Search

For Robot Programming by Demonstration

Authors: Meißner, Pascal

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  • Focuses on enabling mobile robots to recognize scenes in distributed and cluttered indoor environments
     
    Connects two research problems (scene recognition and 3-D object search), which are usually investigated separately in different research fields
     
    Presents numerous complex experiments on a real-world robot

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  • ISBN 978-3-030-31852-9
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About this book

This book focuses on enabling mobile robots to recognize scenes in indoor environments, in order to allow them to determine which actions are appropriate at which points in time. In concrete terms, future robots will have to solve the classification problem represented by scene recognition sufficiently well for them to act independently in human-centered environments. To achieve accurate yet versatile indoor scene recognition, the book presents a hierarchical data structure for scenes – the Implicit Shape Model trees. Further, it also provides training and recognition algorithms for these trees. In general, entire indoor scenes cannot be perceived from a single point of view. To address this problem the authors introduce Active Scene Recognition (ASR), a concept that embeds canonical scene recognition in a decision-making system that selects camera views for a mobile robot to drive to so that it can find objects not yet localized. The authors formalize the automatic selection of camera views as a Next-Best-View (NBV) problem to which they contribute an algorithmic solution, which focuses on realistic problem modeling while maintaining its computational efficiency. Lastly, the book introduces a method for predicting the poses of objects to be searched, establishing the otherwise missing link between scene recognition and NBV estimation.

Table of contents (6 chapters)

Table of contents (6 chapters)

Buy this book

eBook $129.00
price for USA in USD (gross)
  • ISBN 978-3-030-31852-9
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $169.99
price for USA in USD
  • ISBN 978-3-030-31851-2
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Indoor Scene Recognition by 3-D Object Search
Book Subtitle
For Robot Programming by Demonstration
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
135
Copyright
2020
Publisher
Springer International Publishing
Copyright Holder
Springer Nature Switzerland AG
eBook ISBN
978-3-030-31852-9
DOI
10.1007/978-3-030-31852-9
Hardcover ISBN
978-3-030-31851-2
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XIX, 262
Number of Illustrations
27 b/w illustrations, 89 illustrations in colour
Topics