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Improving Local Symmetry Estimations in RGB-D Images by Fitting Superquadrics
dc.contributor.author | Fornas, David | |
dc.contributor.author | Sanz, Pedro J. | |
dc.contributor.author | Porta, Josep M. | |
dc.contributor.author | Thomas, Federico | |
dc.date.accessioned | 2022-02-03T11:29:36Z | |
dc.date.available | 2022-02-03T11:29:36Z | |
dc.date.issued | 2016 | |
dc.identifier.citation | Fornas, D., Sanz, P.J., Porta, J.M., Thomas F. Improving local symmetry estimations in RGB-D images by fitting superquadrics. En Actas de las XXXVII Jornadas de Automática. 7, 8 y 9 de septiembre de 2016, Madrid (pp. 162-168). DOI capítulo: https://doi.org/10.17979/spudc.9788497498081.0162 DOI libro: https://doi.org/10.17979/spudc.9788497498081 | es_ES |
dc.identifier.isbn | 978-84-617-4298-1 (UCM) | |
dc.identifier.isbn | 978-84-9749-808-1 (UDC electrónico) | |
dc.identifier.uri | http://hdl.handle.net/2183/29569 | |
dc.description.abstract | [Abstract] Real-time manipulation tasks rely on finding good candidates for apprehension points which, in turn, usually requires the computation of local symmetries. When RGB-D images are used as input information, these local symmetries can be deduced from segmenting these images and computing geometric moments for each cluster of points. This approach gives a rough approximation because it does not take into account that the considered points lie on a surface. In this paper, to improve the quality of the symmetry estimations, we propose a simple refinement process that takes as input the estimation obtained using moments and then fits a superquadric to the considered set of points. We evaluate our approach on data collected using a Microsoft's Kinect 2 sensor. The obtained experimental results demonstrate the efficacy of the proposed approach. | es_ES |
dc.description.sponsorship | This work has been partially supported by by the Spanish Ministry of Economy and Competitiveness under projects DPI2014-57220-C2-2-P and DPI2014-57746-C3 | es_ES |
dc.description.uri | https://doi.org/10.17979/spudc.9788497498081 | |
dc.language.iso | eng | es_ES |
dc.publisher | Comité Español de Automática | es_ES |
dc.relation | info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2014-57220-C2-2-P/ES/ESTRATEGIAS DE CONTROL PARA UN ROBOT ACTUADO POR CABLES PARA SIMULACION DE BAJA GRAVEDAD/ | |
dc.relation | info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2014-57746-C3/ES/ROBOTS COOPERATIVOS MARINOS MULTIFUNCIONALES PARA DOMINIOS DE INTERVENCION | |
dc.relation.uri | https://doi.org/10.17979/spudc.9788497498081.0162 | es_ES |
dc.rights | Atribución-NoComercial-CompartirIgual 4.0 Internacional | es_ES |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-sa/4.0/deed.es | * |
dc.subject | Symmetry detection | es_ES |
dc.subject | Point clouds | es_ES |
dc.subject | Object Segmentation | es_ES |
dc.subject | Superquadrics | es_ES |
dc.subject | Kinect sensor | es_ES |
dc.title | Improving Local Symmetry Estimations in RGB-D Images by Fitting Superquadrics | es_ES |
dc.type | info:eu-repo/semantics/conferenceObject | es_ES |
dc.rights.access | info:eu-repo/semantics/openAccess | es_ES |
UDC.startPage | 162 | es_ES |
UDC.endPage | 168 | es_ES |
dc.identifier.doi | 10.17979/spudc.9788497498081.0162 | |
UDC.conferenceTitle | XXXVII Jornadas de Automática | es_ES |