Using Recognition to Guide a Robot's Attention
Alexander Thomas, Vittorio Ferrari, Bastian Leibe, Tinne Tuytelaars and Luc Van Gool
In: Robotics Science and Systems 2008, 25-28 June 2008, Zurich, Switzerland.
In the transition from industrial to service robotics, robots will have to
deal with increasingly unpredictable and variable environments. We present a system that is able to recognize objects of a certain class in an image and to identify their parts for potential interactions. This is demonstrated for object instances that have never been observed during training, and under partial occlusion and against cluttered backgrounds. Our approach builds on the Implicit Shape Model of Leibe and Schiele, and extends it to couple recognition to the provision of meta-data useful for a
task. Meta-data can for example consist of part labels or depth
estimates. We present experimental results on wheelchairs and cars.