Hierarchical salient object detection for assisted grasping
Dominik A. Klein, Boris Illing, Bastian Gaspers, Dirk Schulz, Armin B. Cremers
Abstract
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 [1] 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.
BibTeX
@inproceedings{icra2017_hierarchicalsali,
title = {Hierarchical salient object detection for assisted grasping},
author = {Dominik A. Klein and Boris Illing and Bastian Gaspers and Dirk Schulz and Armin B. Cremers},
booktitle = {ICRA 2017},
year = {2017}
}