Hierarchical Salient Object Detection for Assisted Grasping

Visual scene decomposition into semantic entities is one of the major challenges when creating a reliable object grasping system. Recently, we introduced a bottom-up hierarchical clustering approach which is able to segment objects and parts in a scene. In this paper, we introduce a transform from such a segmentation into a corresponding, hierarchical saliency function. In comprehensive experiments we demonstrate its ability to detect salient objects in a scene. Furthermore, this hierarchical saliency defines a most salient corresponding region (scale) for every point in an image. Based on this, an easy-to-use pick and place manipulation system was developed and tested exemplarily.Comment: Accepted for ICRA 201

08291 Abstracts Collection -- Statistical and Geometrical Approaches to Visual Motion Analysis

From 13.07.2008 to 18.07.2008, the Dagstuhl Seminar 08291 ``Statistical and Geometrical Approaches to Visual Motion Analysis\u27\u27 was held in the International Conference and Research Center (IBFI), Schloss Dagstuhl. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section describes the seminar topics and goals in general

Neural networks application to divergence-based passive ranging

The purpose of this report is to summarize the state of knowledge and outline the planned work in divergence-based/neural networks approach to the problem of passive ranging derived from optical flow. Work in this and closely related areas is reviewed in order to provide the necessary background for further developments. New ideas about devising a monocular passive-ranging system are then introduced. It is shown that image-plan divergence is independent of image-plan location with respect to the focus of expansion and of camera maneuvers because it directly measures the object's expansion which, in turn, is related to the time-to-collision. Thus, a divergence-based method has the potential of providing a reliable range complementing other monocular passive-ranging methods which encounter difficulties in image areas close to the focus of expansion. Image-plan divergence can be thought of as some spatial/temporal pattern. A neural network realization was chosen for this task because neural networks have generally performed well in various other pattern recognition applications. The main goal of this work is to teach a neural network to derive the divergence from the imagery