Change search
ReferencesLink to record
Permanent link

Direct link
Evaluation of a Model-free Approach to Object Manipulation in Robotics
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology.
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Action Recognition is crucial for object manipulation in robotics. In recent years, Programming by Demonstration has been proposed as a way for a robot learning tasks from human demonstrations. Based on this concept, a model-free approach for object manipulation has recently been proposed in [1]. In this thesis, this model-free approach is evaluated for Action Recognition. In specific, the approach classifies actions by observing object-interaction changes from video.

Image segmentation to videos presents various difficulties, such as motion blur, complex environment, Over- and Under- segmentation. This thesis investigates and simulates these image segmentation errors in a controllable manner. Based on the simulation, two different similarity measure methods are evaluated: The Substring Match (SSM) and Bhattacharyya Distance (B-Distance) method. The results show that the B-Distance method is more consistent and capable to classify actions with higher noise level compare to the SSM method.

Further, we propose an action representation using kernel method. The evaluation shows that the novel representation improves Action Recognition rate significantly.

Place, publisher, year, edition, pages
IT, 11 035
URN: urn:nbn:se:uu:diva-156434OAI: diva2:431591
Educational program
Master Programme in Computer Science
Available from: 2011-07-21 Created: 2011-07-21 Last updated: 2011-07-21Bibliographically approved

Open Access in DiVA

fulltext(2627 kB)452 downloads
File information
File name FULLTEXT01.pdfFile size 2627 kBChecksum SHA-512
Type fulltextMimetype application/pdf

By organisation
Department of Information Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 452 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 302 hits
ReferencesLink to record
Permanent link

Direct link