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FROM ACTIVE TO INTERACTIVE 3D OBJECT RECOGNITION
by
Bharath Sankaran
A Dissertation Presented to the
FACULTY OF THE USC GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
DOCTOR OF PHILOSOPHY
(COMPUTER SCIENCE)
December 2018
Copyright 2018 Bharath Sankaran
Object Description
| Title | From active to interactive 3D object recognition |
| Author | Sankaran, Bharath |
| Author email | bsankara@usc.edu;bharath@scaledrobotics.com |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Computer Science |
| School | Viterbi School of Engineering |
| Date defended/completed | 2018-07-25 |
| Date submitted | 2018-10-12 |
| Date approved | 2018-10-15 |
| Restricted until | 2018-10-15 |
| Date published | 2018-10-15 |
| Advisor (committee chair) |
Ayanian, Nora Schaal, Stefan Kai |
| Advisor (committee member) |
Sukhatme, Gaurav Spedding, Geoffrey |
| Abstract | If robots are to successfully migrate from controlled industrial settings to unstructured human environments, they should be capable of robust perception in densely cluttered, noisy environments, plagued with poor lighting. They should also be able to reason about inaccurate models of the environment. This transition will require robots to move towards building semantic representations of the environment by detecting objects of interest and accurately estimating their pose. Most of the current state-of-the-art in object recognition is still based on single view recognition and their performance is limited by occlusions and ambiguity in appearance and geometry. ❧ In this thesis, we explore the use of movement and interaction to solve one of the fundamental problems of computer vision, object detection and pose estimation. We exploit the notion that perception is a process that is both active and exploratory and reformulate the problem of 3D object recognition as one of movement and interaction. We formalize these problems as information acquisition optimal control problems and adapt them to the active and interactive settings. We develop both myopic and non-myopic solutions to the information acquisition problem for 3D object recognition using tools from optimal control and inverse optimal control. We also introduce efficient approximations to these optimal control problems by exploiting the nature of the information measure we are utilizing or exploiting the behavior of the static recognition system. Our approximations allow for tractable solutions to otherwise intractable problems. |
| Keyword | interactive perception; active perception; object recognition; 3D perception; optimal control; information acquisition; mobile manipulation; robotics; humanoids |
| Language | English |
| Format (imt) | application/pdf |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Provenance | Electronically uploaded by the author |
| Type | texts |
| Legacy record ID | usctheses-m |
| Contributing entity | University of Southern California |
| Rights | Sankaran, Bharath |
| Physical access | The author retains rights to his/her dissertation, thesis or other graduate work according to U.S. copyright law. Electronic access is being provided by the USC Libraries in agreement with the author, as the original true and official version of the work, but does not grant the reader permission to use the work if the desired use is covered by copyright. It is the author, as rights holder, who must provide use permission if such use is covered by copyright. The original signature page accompanying the original submission of the work to the USC Libraries is retained by the USC Libraries and a copy of it may be obtained by authorized requesters contacting the repository e-mail address given. |
| Repository name | University of Southern California Digital Library |
| Repository address | USC Digital Library, University of Southern California, University Park Campus MC 7002, 106 University Village, Los Angeles, California 90089-7002, USA |
| Repository email | cisadmin@lib.usc.edu |
| Filename | etd-SankaranBh-6827.pdf |
| Archival file | Volume3/etd-SankaranBh-6827.pdf |
Description
| Title | Page 1 |
| Full text | FROM ACTIVE TO INTERACTIVE 3D OBJECT RECOGNITION by Bharath Sankaran A Dissertation Presented to the FACULTY OF THE USC GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree DOCTOR OF PHILOSOPHY (COMPUTER SCIENCE) December 2018 Copyright 2018 Bharath Sankaran |
