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Learning Semantic Interaction among Graspable ObjectsAuthors: Swagatika Panda,Abdul Hafeez, C V Jawahar Conference: PReMI 2013 Date: 2013-12-10 Report no: IIIT/TR/2013/112 AbstractIn this work, we aim at understanding semantic interaction among graspable objects in both direct and indirect physica l contact for robotic manipulation tasks. Given an object of interest , its support relationship with other graspable objects is inferred hier archically. The support relationship is used to predict the “support order” or the order in which the surrounding objects need to be removed in order to m anipulate the target object. We believe, this can extend the scope of ro botic ma- nipulation tasks to typical clutter involving physical con tact, overlap and objects of generic shapes and sizes. We have created an RGBD d ataset consisting of various objects present in clutter using Kine ct. We con- ducted our experimentation and analysed the performance of our work on the images from the same dataset. Full paper: pdf Centre for Visual Information Technology |
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