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A Study on Active Robot Perception a...

Li, Kun.

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A Study on Active Robot Perception and Its Applications in Object Identification and Manipulation.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	A Study on Active Robot Perception and Its Applications in Object Identification and Manipulation./
作者:	Li, Kun.
面頁冊數:	176 p.
附註:	Source: Dissertation Abstracts International, Volume: 77-01(E), Section: B.
Contained By:	Dissertation Abstracts International77-01B(E).
標題:	Electrical engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3725362
ISBN:	9781339096070

A Study on Active Robot Perception and Its Applications in Object Identification and Manipulation.
Li, Kun.

A Study on Active Robot Perception and Its Applications in Object Identification and Manipulation. - 176 p.

Source: Dissertation Abstracts International, Volume: 77-01(E), Section: B.

Thesis (Ph.D.)--The Chinese University of Hong Kong (Hong Kong), 2015.

A robot may collect intrinsic and extrinsic properties of targets from the operator, by actively changing its own states, and by actively changing the target states. This thesis studies the robot's exploration of these properties by changing the target states, in order to model objects and scenes. To model the objects, a novel dynamic process is formulated for interactive object segmentation, and a solution based on particle filter and active learning is developed, thus the robot manipulates and learns the object structures incrementally and autonomously. To build abstract object models from the structural object samples, a multilevel part-based object model is developed by applying latent support vector machine to the training of a hierarchical object structure.

ISBN: 9781339096070Subjects--Topical Terms:

649834
Electrical engineering.

A Study on Active Robot Perception and Its Applications in Object Identification and Manipulation.
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245 1 2 $a A Study on Active Robot Perception and Its Applications in Object Identification and Manipulation.
300 $a 176 p.
500 $a Source: Dissertation Abstracts International, Volume: 77-01(E), Section: B.
502 $a Thesis (Ph.D.)--The Chinese University of Hong Kong (Hong Kong), 2015.
520 $a A robot may collect intrinsic and extrinsic properties of targets from the operator, by actively changing its own states, and by actively changing the target states. This thesis studies the robot's exploration of these properties by changing the target states, in order to model objects and scenes. To model the objects, a novel dynamic process is formulated for interactive object segmentation, and a solution based on particle filter and active learning is developed, thus the robot manipulates and learns the object structures incrementally and autonomously. To build abstract object models from the structural object samples, a multilevel part-based object model is developed by applying latent support vector machine to the training of a hierarchical object structure.
520 $a To model the scenes, relational semantic mapping method is developed to describe the scenes with both the objects and various object relations. Relational operators are introduced, in order to build relational semantic maps with relational Markov network, where the robot learns object relations actively and incrementally. To find an object in a map, the operator provides the name of target object and the semantic description of the map, and then the robot instantiates a relational Markov network based on the description and learned parameters.
520 $a After that, it detects the object with the relational Markov network.
520 $a This thesis demonstrates the proposed approach on a robot arm, a humanoid robot, and a mobile robot. The results show that the robots learn target informar tion autonomously by manipulating the target models to build sensor-semantics mappings, and use the information to find and manipulate objects accurately.
590 $a School code: 1307.
650 4 $a Electrical engineering. $3 649834
650 4 $a Robotics. $3 519753
650 4 $a Artificial intelligence. $3 516317
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690 $a 0771
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710 2 $a The Chinese University of Hong Kong (Hong Kong). $b Electronic Engineering. $3 2094192
773 0 $t Dissertation Abstracts International $g 77-01B(E).
790 $a 1307
791 $a Ph.D.
792 $a 2015
793 $a English
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