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On Recognizing Transparent Objects in Domestic Environments Using Fusion of Multiple Sensor Modalities

  • Current object recognition methods fail on object sets that include both diffuse, reflective and transparent materials, although they are very common in domestic scenarios. We show that a combination of cues from multiple sensor modalities, including specular reflectance and unavailable depth information, allows us to capture a larger subset of household objects by extending a state of the art object recognition method. This leads to a significant increase in robustness of recognition over a larger set of commonly used objects.

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Document Type:Conference Object
Author:Alexander Hagg, Frederik Hegger, Paul Plöger
Parent Title (German):Behnke, Sheh et al. (Eds.): RoboCup 2016. Robot World Cup XX, Leipzig, 30.06.-04.07.2016. Lecture Notes in Computer Science (LNCS), Vol 9776
First Page:3
Last Page:15
ArXiv Id:
Date of first publication:2017/11/01
Award:Best Paper Award for Scientific Contribution
Tag:Domestic robotics; Fusion; Modalities; Multimodal; Object recognition; Transparency
Departments, institutes and facilities:Fachbereich Informatik
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2016/06/23