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EBOOK
Author Meissner, Pascal,
Title Indoor scene recognition by 3-D object search : for robot programming by demonstration / Pascal Meiner.
Imprint Cham, Switzerland : Springer, 2020.

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 OHIOLINK SPRINGER EBOOKS    ONLINE  
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Author Meissner, Pascal,
Series Springer tracts in advanced robotics, 1610-7438 ; volume 135.
Springer tracts in advanced robotics ; v. 135. 1610-7438.
Subject Robots -- Programming.
LOCATION CALL # STATUS MESSAGE
 OHIOLINK SPRINGER EBOOKS    ONLINE  
View online
Author Meissner, Pascal,
Series Springer tracts in advanced robotics, 1610-7438 ; volume 135.
Springer tracts in advanced robotics ; v. 135. 1610-7438.
Subject Robots -- Programming.
Description 1 online resource (xix, 262 pages) : illustrations (some color).
polychrome rdacc
Bibliography Note Includes bibliographical references.
Note Online resource; title from PDF title page (SpringerLink, viewed October 16, 2019).
Contents Introduction -- RelatedWork -- PassiveSceneRecognition -- ActiveSceneRecognition -- Evaluation -- Summary -- Appendix.
Summary This book focuses on enabling mobile robots to recognize scenes in indoor environments, in order to allow them to determine which actions are appropriate at which points in time. In concrete terms, future robots will have to solve the classification problem represented by scene recognition sufficiently well for them to act independently in human-centered environments. To achieve accurate yet versatile indoor scene recognition, the book presents a hierarchical data structure for scenes - the Implicit Shape Model trees. Further, it also provides training and recognition algorithms for these trees. In general, entire indoor scenes cannot be perceived from a single point of view. To address this problem the authors introduce Active Scene Recognition (ASR), a concept that embeds canonical scene recognition in a decision-making system that selects camera views for a mobile robot to drive to so that it can find objects not yet localized. The authors formalize the automatic selection of camera views as a Next-Best-View (NBV) problem to which they contribute an algorithmic solution, which focuses on realistic problem modeling while maintaining its computational efficiency. Lastly, the book introduces a method for predicting the poses of objects to be searched, establishing the otherwise missing link between scene recognition and NBV estimation.
ISBN 9783030318529 (electronic bk.)
3030318524 (electronic bk.)
9783030318512 (print)
3030318516
ISBN/ISSN 10.1007/978-3-030-31852-9
10.1007/978-3-030-31
OCLC # 1123192214
Additional Format Original 3030318516 9783030318512 (OCoLC)1113882925.


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