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Interactive Segmentation for Manipulation in Unstructured Environments

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.

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Interactive Segmentation for Manipulation in Unstructured Environments

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  1. Interactive Segmentation for Manipulation in Unstructured Environments Jacqueline Kenney Oliver Brock May 30th, 2008 New England Manipulation Symposium

  2. An Unstructured Enviroment

  3. Gradient Example

  4. Objects Can Have Similar Appearances

  5. Vision Can Be Ambiguous

  6. Motion Examples

  7. Motion Example

  8. Related Work: Perception Through Action Figure Ground Segmentation Hayman & Eklundh 2002 Object Segmentation Fitzpatrick & Metta 2004

  9. Experimental Setup

  10. Interactive Segmentation

  11. The Process: Calculating Motion Probabilities Calculate Probability of Motion Track Object Templates u Detect New Object Create New Template true false Motion Image

  12. The Process: Tracking Object Templates Calculate Probability of Motion Template Track Object Templates Detect New Object Create New Template Current Motion Image true false

  13. The Process: Detecting New Objects Calculate Probability of Motion Existing Template Track Object Templates Detect New Object Create New Template Current Frame true false

  14. The Process: Creating a New Template = - Previous Motion Image Current Motion Image New Template Image

  15. Segmentation Results

  16. Updated Process Calculate Probability of Motion Track Object Templates Create New Template Detect New Object true false Accumulate Motion Information

  17. Accumulation Results Without Accumulation: With Accumulation:

  18. Accumulation Results Without Accumulation: With Accumulation:

  19. Conclusion • Progression of signals for segmentation • Gradient • Motion • Accumulation of Motion • Robot can create signal! • Interaction can make vision easier

  20. Thank You!

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