What can i do around here? Deep functional scene understanding for cognitive robots

Chengxi Ye, Yezhou Yang, Ren Mao, Cornelia Fermuller, Yiannis Aloimonos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

For robots that have the capability to interact with the physical environment through their end effectors, understanding the surrounding scenes is not merely a task of image classification or object recognition. To perform actual tasks, it is critical for the robot to have a functional understanding of the visual scene. Here, we address the problem of localization and recognition of functional areas in an arbitrary indoor scene, formulated as a two-stage deep learning based detection pipeline. A new scene functionality testing-bed, which is compiled from two publicly available indoor scene datasets, is used for evaluation. Our method is evaluated quantitatively on the new dataset, demonstrating the ability to perform efficient recognition of functional areas from arbitrary indoor scenes. We also demonstrate that our detection model can be generalized to novel indoor scenes by cross validating it with images from two different datasets.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4604-4611
Number of pages8
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'What can i do around here? Deep functional scene understanding for cognitive robots'. Together they form a unique fingerprint.

  • Cite this

    Ye, C., Yang, Y., Mao, R., Fermuller, C., & Aloimonos, Y. (2017). What can i do around here? Deep functional scene understanding for cognitive robots. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 4604-4611). [7989535] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989535