Interactive Perception of Rigid and Non-Rigid Objects

Interactive Perception of Rigid and Non-Rigid Objects

This paper explores the concept of interactive perception, in which sensing guides manipulation, in the context of extracting and classifying unknown objects within a cluttered environment. In the proposed approach, a pile of objects lies on a flat background, and the goal of the robot is to isolate, interact with, and classify each object so that its properties can ...

Retrieval of 3-Dimensional Rigid and Non-Rigid Objects

This dissertation focuses on the problem of 3D object retrieval from large datasets in a near realtime manner. In order to address this task we focus on three major subproblems of the field: (i) pose normalization of rigid 3D models with applications to 3D object retrieval, (ii) non-rigid 3D object description and (iii) search over rigid 3D object datasets based on 2D image queries. Regarding t...

Classifying Moving Objects as Rigid or Non-rigid without Correspondences

This paper presents a method for classifying moving objects as rigid or non-rigid based on the similarity of their appearance over multiple frames. This classiication is performed by using an image of the object obtained earlier in the video sequence and examining the uc-tuation in the similarity between this reference image and subsequent images of the object. To do this, we use a representati...

Subdividing Non Rigid 3D Objects into Quasi Rigid Parts

A new method for efficient modelling of image sequences has been proposed by Kappei and Liedtke IM using an analysis by synthesis algorithm It is based on extracting the three dimensional information from a sequence of TV images in order to construct a 3D model of the scene The method can be used for the efficient transmission of TV images to a receiver, where the image sequence has to be recon...

Symmetries of Occluded and Non-Rigid Objects