Perceiving, Learning, and Recognizing 3D Objects: An Approach to Cognitive Service Robots

Seyed Mohades Kasaei, Juil Sock*, Luıs Seabra Lopes, Ana Maria Tome, Tae-Kyun Kim*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

24 Citations (Scopus)

Abstract

There is growing need for robots that can interact with people in everyday situations. For service robots, it is not reasonable to assume that one can pre-program all object categories. Instead, apart from learning from a batch of labelled training data, robots should continuously update and learn new object categories while working in the environment. This paper proposes a cognitive architecture designed to create a concurrent 3D object category learning and recognition in an interactive and open-ended manner. In particular, this cognitive architecture provides automatic perception capabilities that will allow robots to detect objects in highly crowded scenes and learn new object categories from the set of accumulated experiences in an incremental and open-ended way. Moreover, it supports constructing the full model of an unknown object in an on-line manner and predicting next best view for improving object detection and manipulation performance. We provide extensive experimental results demonstrating system performance in terms of recognition, scalability, next-best-view prediction and real-world robotic applications.
Original languageEnglish
Title of host publicationProceedings of the AAAI Conference on Artificial Intelligence, 32(1)
Subtitle of host publicationProceedings of the AAAI Conference on Artificial Intelligence, 32(1)
PublisherAAAI Press
Pages596-603
Number of pages8
Volume32, No 1
DOIs
Publication statusPublished - 2018
Externally publishedYes
EventThirty-Second Conference on Artificial Intelligence (AAAI-18), New Orleans, Louisiana, USA - New Orleans, Lousiana, United States
Duration: 2-Feb-20187-Feb-2018

Conference

ConferenceThirty-Second Conference on Artificial Intelligence (AAAI-18), New Orleans, Louisiana, USA
Country/TerritoryUnited States
CityNew Orleans, Lousiana
Period02/02/201807/02/2018

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