TY - GEN
T1 - Neural network based 2D/3D fusion for robotic object recognition
AU - Caron, Louis Charles
AU - Song, Yang
AU - Filliat, David
AU - Gepperth, Alexander
PY - 2014/1/1
Y1 - 2014/1/1
N2 - We present a neural network based fusion approach for realtime robotic object recognition which integrates 2D and 3D descriptors in a flexible way. The presented recognition architecture is coupled to a real-time segmentation step based on 3D data, since a focus of our investigations is real-world operation on a mobile robot. As recognition must operate on imperfect segmentation results, we conduct tests of recognition performance using complex everyday objects in order to quantify the overall gain of performing 2D/3D fusion, and to discover where it is particularly useful. We find that the fusion approach is most powerful when generalization is required, for example to significant viewpoint changes and a large number of object categories, and that a perfect segmentation is apparently not a necessary prerequisite for successful discrimination.
AB - We present a neural network based fusion approach for realtime robotic object recognition which integrates 2D and 3D descriptors in a flexible way. The presented recognition architecture is coupled to a real-time segmentation step based on 3D data, since a focus of our investigations is real-world operation on a mobile robot. As recognition must operate on imperfect segmentation results, we conduct tests of recognition performance using complex everyday objects in order to quantify the overall gain of performing 2D/3D fusion, and to discover where it is particularly useful. We find that the fusion approach is most powerful when generalization is required, for example to significant viewpoint changes and a large number of object categories, and that a perfect segmentation is apparently not a necessary prerequisite for successful discrimination.
UR - https://www.scopus.com/pages/publications/84962009801
M3 - Conference contribution
AN - SCOPUS:84962009801
T3 - 22nd European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2014 - Proceedings
SP - 431
EP - 436
BT - 22nd European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2014 - Proceedings
PB - i6doc.com publication
T2 - 22nd European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2014
Y2 - 23 April 2014 through 25 April 2014
ER -