Retrieving unknown objects using robot in-the-loop based interactive segmentation

Krishneel Chaudhary, Chi Wun Au, Wesley P. Chan, Kotaro Nagahama, Hiroaki Yaguchi, Kei Okada, Masayuki Inaba

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

1 Citation (Scopus)

Abstract

For a robot to operate efficiently in a human centered environment, it should be able to interact and learn unknown objects autonomously. Such capabilities will enable a robot to enrich its internal knowledge of the environment without human assistance. However, a crucial limitation of robots is their inability to comprehend representations of novel objects without priors. Human efforts are required to provide pertinent prerequisites for learning novel objects. In this paper, we exploit the visual and manipulative capabilities of a mobile robot to interact with an unknown cluttered scene on a support plane and retrieve objects requested by humans. The object to retrieve may support other unknown objects, which the robot has to identify and carefully remove. The boundaries of objects in a cluttered scene are estimated using 3D geometrical relationships between the surface normals. Using this estimate, the robot interacts with the objects through graspless action (push), and visual changes to the scene are used to revamp the initial hypothesis for final object region estimation. The estimated region is then used for grasping and removing the supported objects in order to retrieve the target object. The presented approach is model free and requires no prior object knowledge.

Original languageEnglish
Title of host publication2016 IEEE/SICE International Symposium on System Integration (SII 2016)
EditorsYasuhisa Hirata
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages75-80
Number of pages6
ISBN (Electronic)9781509033294
ISBN (Print)9781509033300
DOIs
Publication statusPublished - 2016
Externally publishedYes
EventIEEE/SICE International Symposium on System Integration 2016 - Sapporo, Japan
Duration: 13 Dec 201615 Dec 2016
https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/7830756/proceeding

Conference

ConferenceIEEE/SICE International Symposium on System Integration 2016
Abbreviated titleSII 2016
CountryJapan
CitySapporo
Period13/12/1615/12/16
Internet address

Keywords

  • Interactive segmentation
  • object retrieval
  • robot-object interactions (ROI)

Cite this

Chaudhary, K., Au, C. W., Chan, W. P., Nagahama, K., Yaguchi, H., Okada, K., & Inaba, M. (2016). Retrieving unknown objects using robot in-the-loop based interactive segmentation. In Y. Hirata (Ed.), 2016 IEEE/SICE International Symposium on System Integration (SII 2016) (pp. 75-80). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/SII.2016.7843978