Object Recognition

Object Identification

• Shape-Based Feature Point Extraction
  • Contour Fragment-based SPCF (Sampled Points from Contour Fragments) features

• Descriptor Computation in Bisected Local Regions
  • Rotation-invariant shape contexts with geometric blur
  • Color histogram in the opponent color space

• Spectral Matching
  • Pairwise geometric descriptors between features

• Object Localization
  • RANSAC-based outlier removal

Object Categorization

• Affine Category Shape Model
  • Contour fragment-based SPCF (Sampled Points from Contour Fragments) features
  • Rotation-invariant shape contexts with geometric blur

• Spectral Matching
  • Pairwise geometric descriptors between features

• Object Localization
  • RANSAC-based outlier removal

• Results

Video

Related Papers

• Ju Han Yoo and Dong Hwan Kim, "A New Robotic Context-Based Object Recognition Algorithm for Humanoid Robots," in Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), pp. 47-52, Seoul, Korea, Nov. 2015.

• Yuli Chen, Yide Ma, Dong Hwan Kim, and Sung-Kee Park, "Region-Based Object Recognition by Color Segmentation Using a Simplified PCNN," IEEE Transactions on Neural Networks and Learning Systems, vol. 26, no. 8, pp. 1682-1697, Aug. 2015.

• RajeshKanna Ala, Dong Hwan Kim, Sung Yul Shin, Chang Hwan Kim, and Sung-Kee Park, "A 3D-Grasp Synthesis Algorithm to Grasp Unknown Objects Based on Graspable Boundary and Convex Segments," Information Sciences, vol. 295, pp. 91-106, Feb. 2015.

• Ju Han Yoo, Dong Hwan Kim, and Sung-Kee Park, "Categorical Object Recognition Method Robust to Scale Changes Using Depth Data from an RGB-D Sensor," in Proceedings of the 33rd IEEE International Conference on Consumer Electronics (ICCE 2015), pp. 98-99, Las Vegas, NV, USA, Jan. 2015.

• Dong Hwan Kim and Sung-Kee Park, "Texture-less Object Recognition Using Contour Fragment-Based Features with Bisected Local Regions," in Proceedings of the 32nd IEEE International Conference on Consumer Electronics (ICCE 2014), pp. 388-389, Las Vegas, NV, USA, Jan. 2014.

• Yuli Chen, Yide Ma, Dong Hwan Kim, and Sung-Kee Park, "Object Recognition Based on a Simplified PCNN," in Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2012), vol. 2, pp. 223-229, Rome, Italy, July 2012.

• Soohwan Kim, Howon Cheong, Dong Hwan Kim, and Sung-Kee Park, "Context-Based Object Recognition for Door Detection," in Proceedings of the 15th International Conference on Advanced Robotics (ICAR 2011), pp. 155-160, Tallinn, Estonia, June 2011.

• Dong Hwan Kim and Sung-Kee Park, "Object Class Detection Using Shape-Based Feature Descriptors," in Proceedings of the 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2010), pp. 195-197, Busan, Korea, Nov. 2010.

• Soohwan Kim, Dong Hwan Kim, and Sung-Kee Park, "Object Modeling for Environment Perception through Human-Robot Interaction," in Proceedings of the 10th International Conference on Control, Automation and Systems (ICCAS 2010), pp. 2328-2333, Goyang, Korea, Oct. 2010.

• Soohwan Kim, Dong Hwan Kim, and Sung-Kee Park, "On-line Object Segmentation through Human-Robot Interaction," in Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), pp. 1734-1739, Taipei, Taiwan, Oct. 2010.