Journal Article10.1007/S10994-013-5352-9
Plane-based object categorisation using relational learning
Reza Farid,Claude Sammut +1 more
TL;DR: This work claims that a relational description for classes of 3D objects can be built for robust object categorisation in real robotic application and shows that ILP can be successfully applied to recognise objects encountered by a robot especially in an urban search and rescue environment.
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Abstract: We use Inductive Logic Programming (ILP) to learn classifiers for generic object recognition from point clouds, as generated by 3D cameras, such as the Kinect Each point cloud is segmented into planar surfaces Each subset of planes that represents an object is labelled and predicates describing those planes and their relationships are used for learning Our claim is that a relational description for classes of 3D objects can be built for robust object categorisation in real robotic application To test the hypothesis, labelled sets of planes from 3D point clouds gathered during the RoboCup Rescue Robot competition are used as positive and negative examples for an ILP system The robustness of the results is evaluated by 10-fold cross validation In addition, common household objects that have curved surfaces are used for evaluation and comparison against a well-known non-relational classifier The results show that ILP can be successfully applied to recognise objects encountered by a robot especially in an urban search and rescue environment
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Citations
Automatic BIM component extraction from point clouds of existing buildings for sustainability applications
TL;DR: In this article, a method for automatically extracting building geometries from unorganized point clouds is proposed, where the collected raw data undergo data downsizing, boundary detection and building component categorization, resulting in the building components being recognized as individual objects and their visualization as polygons.
293
Meta-interpretive learning: application to grammatical inference
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Using a gesture interactive game-based learning approach to improve preschool children's learning performance and motor skills
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