Clustering of image features based on contact and occlusion among robot body and objects

@article{Somei2013ClusteringOI,
  title={Clustering of image features based on contact and occlusion among robot body and objects},
  author={T. Somei and Yuichi Kobayashi and Akihiro Shimizu and Testuya Kaneko},
  journal={2013 IEEE Workshop on Robot Vision (WORV)},
  year={2013},
  pages={203-208}
}
This paper presents a recognition framework for a robot without predefined knowledge on its environment. Image features (keypoints) are clustered based on statistical dependencies with respect to their motions and occlusions. Estimation of conditional probability is used to evaluate statistical dependencies among configuration of robot and features in images. Features that move depending on the configuration of the robot can be regarded as part of robot's body. Different kinds of occlusion can… CONTINUE READING
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