Interactive Segmentation for Manipulation in Unstructured Environments
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1 Robotics and Biology Laboratory – Department of Computer Science obotics and Biology Laboratory – Department of Computer Science Jacqueline Kenney Oliver Brock May 30 th , 2008 New England Manipulation Symposium Interactive Segmentation for Manipulation in Unstructured Environments
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Interactive Segmentation for Manipulation in Unstructured Environments. Jacqueline Kenney Oliver Brock May 30 th , 2008 New England Manipulation Symposium. An Unstructured Enviroment. Gradient Example. Objects Can Have Similar Appearances. Vision Can Be Ambiguous. Motion Examples. - PowerPoint PPT Presentation
Transcript of Interactive Segmentation for Manipulation in Unstructured Environments
1Robotics and Biology Laboratory – Department of Computer ScienceRobotics and Biology Laboratory – Department of Computer Science
Jacqueline KenneyOliver Brock
May 30th, 2008
New England Manipulation Symposium
Interactive Segmentation for Manipulation in Unstructured
Environments
2Robotics and Biology Laboratory – Department of Computer Science
An Unstructured Enviroment
3Robotics and Biology Laboratory – Department of Computer Science
Gradient Example
4Robotics and Biology Laboratory – Department of Computer Science
Objects Can Have Similar Appearances
5Robotics and Biology Laboratory – Department of Computer Science
Vision Can Be Ambiguous
6Robotics and Biology Laboratory – Department of Computer Science
Motion Examples
7Robotics and Biology Laboratory – Department of Computer Science
Motion Example
8Robotics and Biology Laboratory – Department of Computer Science
Object SegmentationFitzpatrick & Metta
2004
Figure Ground SegmentationHayman & Eklundh
2002
Related Work: Perception Through Action
9Robotics and Biology Laboratory – Department of Computer Science
Experimental Setup
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Interactive Segmentation
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The Process: Calculating Motion Probabilities
Track Object
Templates
DetectNew
Object
CreateNew
Template
Calculate Probability of
Motion
false true
Motion Image
u
12Robotics and Biology Laboratory – Department of Computer Science
The Process: Tracking Object Templates
Track Object
Templates
DetectNew
Object
CreateNew
Template
Calculate Probability of
Motion
false true
Template
Current Motion Image
13Robotics and Biology Laboratory – Department of Computer Science
The Process: Detecting New Objects
Track Object
Templates
DetectNew
Object
CreateNew
Template
Calculate Probability of
Motion
false true
Existing Template
CurrentFrame
14Robotics and Biology Laboratory – Department of Computer Science
The Process: Creating a New Template
Previous Motion Image
CurrentMotionImage
- =
NewTemplate
Image
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Segmentation Results
16Robotics and Biology Laboratory – Department of Computer Science
Updated Process
Track Object
Templates
DetectNew
Object
CreateNew
Template
Calculate Probability of
Motion
false
true
AccumulateMotion
Information
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Accumulation ResultsWithout Accumulation:
With Accumulation:
18Robotics and Biology Laboratory – Department of Computer Science
Accumulation ResultsWithout Accumulation:
With Accumulation:
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Conclusion
•Progression of signals for segmentation•Gradient•Motion•Accumulation of Motion
•Robot can create signal!•Interaction can make vision easier
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Thank You!
![F 6WXGHQW0RGHO2XWSXW Video Object Segmentation ...in different applications such as autonomous driving [4][26], and robot manipulation [5][10]. Object segmentation can aid in grasping,](https://static.fdocuments.us/doc/165x107/6027d8e7728689071e65a400/f-6wxghqw0rgho2xwsxw-video-object-segmentation-in-different-applications-such.jpg)
