Robotic understanding of scene contents and spatial constraints
Wilson, Dustin Yan, Fujian Sinha, Kaushik He, Hongsheng
Wilson, Dustin
Yan, Fujian
Sinha, Kaushik
He, Hongsheng
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Time Period
Advisors
Original Date
Digitization Date
Issue Date
2018
Type
Conference paper
Genre
Keywords
Robot spatial constraints reasoning,Spatial logic understanding,Object detection,Convolutional neural networks,Robotic grasping,Faster R-CNN
Subjects (LCSH)
Citation
Wilson D., Yan F., Sinha K., He H. (2018) Robotic Understanding of Scene Contents and Spatial Constraints. In: Ge S. et al. (eds) Social Robotics. ICSR 2018. Lecture Notes in Computer Science, vol 11357. Springer, Cham
Abstract
The aim of this paper is to create a model which is able to be used to accurately identify objects as well as spacial relationships in a dynamic environment. This paper proposed methods to train a deep learning model which recognizes unique objects and positions of key items in an environment. The model requires a low amount of images compared to others and also can recognize multiple objects in the same frame due to the utilization of region proposal networks. Methods are also discussed to find the position of recognized objects which can be used for picking up recognized items with a robotic arm. The system utilizes logic operations to be able to deduct how different objects relate to each other in regard to their placement from one another based off of the localization technique. The paper discusses how to create spacial relationships specifically.
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Publisher
Springer Nature
Journal
Book Title
Series
ICSR 2018 10th International Conference on Social Robotics;v.11357
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PubMed ID
DOI
ISSN
0302-9743