Pose alignment for different objects using affordance cues

Shuichi Akizuki; Yoshimitsu Aoki

doi:10.1109/IWAIT.2018.8369759

Pose alignment for different objects using affordance cues

Shuichi Akizuki, Yoshimitsu Aoki

Department of Electronics and Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

In this paper, we propose a method to estimate 6D pose (3D position and pose) of the everyday objects, especially tools, even if there are not the same 3D model of the target object. We assume that the tools that belong to same category have common spatial relation in part-affordances, the role of each part. The proposed method uses this assumption for pose estimation. By minimizing two types of consistencies, the spatial relationship of part-affordances and the shapes, we have confirmed that the proposed method achieved higher performance compared with traditional pose estimation method.

Original language	English
Title of host publication	2018 International Workshop on Advanced Image Technology, IWAIT 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-3
Number of pages	3
ISBN (Electronic)	9781538626153
DOIs	https://doi.org/10.1109/IWAIT.2018.8369759
Publication status	Published - 2018 May 30
Event	2018 International Workshop on Advanced Image Technology, IWAIT 2018 - Chiang Mai, Thailand Duration: 2018 Jan 7 → 2018 Jan 9

Other

Other	2018 International Workshop on Advanced Image Technology, IWAIT 2018
Country/Territory	Thailand
City	Chiang Mai
Period	18/1/7 → 18/1/9

Keywords

Affordance
Point Clouds
Pose alignment

ASJC Scopus subject areas

Computer Networks and Communications
Computer Vision and Pattern Recognition
Media Technology

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10.1109/IWAIT.2018.8369759

Cite this

@inproceedings{435f62dc354246a385cde93a67e83c31,

title = "Pose alignment for different objects using affordance cues",

abstract = "In this paper, we propose a method to estimate 6D pose (3D position and pose) of the everyday objects, especially tools, even if there are not the same 3D model of the target object. We assume that the tools that belong to same category have common spatial relation in part-affordances, the role of each part. The proposed method uses this assumption for pose estimation. By minimizing two types of consistencies, the spatial relationship of part-affordances and the shapes, we have confirmed that the proposed method achieved higher performance compared with traditional pose estimation method.",

keywords = "Affordance, Point Clouds, Pose alignment",

author = "Shuichi Akizuki and Yoshimitsu Aoki",

year = "2018",

month = may,

day = "30",

doi = "10.1109/IWAIT.2018.8369759",

language = "English",

pages = "1--3",

booktitle = "2018 International Workshop on Advanced Image Technology, IWAIT 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2018 International Workshop on Advanced Image Technology, IWAIT 2018 ; Conference date: 07-01-2018 Through 09-01-2018",

}

TY - GEN

T1 - Pose alignment for different objects using affordance cues

AU - Akizuki, Shuichi

AU - Aoki, Yoshimitsu

PY - 2018/5/30

Y1 - 2018/5/30

N2 - In this paper, we propose a method to estimate 6D pose (3D position and pose) of the everyday objects, especially tools, even if there are not the same 3D model of the target object. We assume that the tools that belong to same category have common spatial relation in part-affordances, the role of each part. The proposed method uses this assumption for pose estimation. By minimizing two types of consistencies, the spatial relationship of part-affordances and the shapes, we have confirmed that the proposed method achieved higher performance compared with traditional pose estimation method.

AB - In this paper, we propose a method to estimate 6D pose (3D position and pose) of the everyday objects, especially tools, even if there are not the same 3D model of the target object. We assume that the tools that belong to same category have common spatial relation in part-affordances, the role of each part. The proposed method uses this assumption for pose estimation. By minimizing two types of consistencies, the spatial relationship of part-affordances and the shapes, we have confirmed that the proposed method achieved higher performance compared with traditional pose estimation method.

KW - Affordance

KW - Point Clouds

KW - Pose alignment

UR - http://www.scopus.com/inward/record.url?scp=85048774038&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85048774038&partnerID=8YFLogxK

U2 - 10.1109/IWAIT.2018.8369759

DO - 10.1109/IWAIT.2018.8369759

M3 - Conference contribution

AN - SCOPUS:85048774038

SP - 1

EP - 3

BT - 2018 International Workshop on Advanced Image Technology, IWAIT 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 International Workshop on Advanced Image Technology, IWAIT 2018

Y2 - 7 January 2018 through 9 January 2018

ER -

Pose alignment for different objects using affordance cues

Abstract

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Keywords

ASJC Scopus subject areas

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