2021 IEEE International Conference on Image Processing

19-22 September 2021 • Anchorage, Alaska, USA

Imaging Without Borders

2021 IEEE International Conference on Image Processing

19-22 September 2021 • Anchorage, Alaska, USA

Login Paper Search My Schedule Paper Index Help

My ICIP 2021 Schedule

Note: Your custom schedule will not be saved unless you create a new account or login to an existing account.
  1. Create a login based on your email (takes less than one minute)
  2. Perform 'Paper Search'
  3. Select papers that you desire to save in your personalized schedule
  4. Click on 'My Schedule' to see the current list of selected papers
  5. Click on 'Printable Version' to create a separate window suitable for printing (the header and menu will appear, but will not actually print)

Paper Detail

Paper IDSS-3DPU.2
Paper Title SEEING BY HAPTIC GLANCE: REINFORCEMENT LEARNING BASED 3D OBJECT RECOGNITION
Authors Kevin Riou, Suiyi Ling, CAPACITÉS SAS, France; Guillaume Gallot, CAPACITÉS, France; Patrick Le Callet, University of Nantes, France
SessionSS-3DPU: Special Session: 3D Visual Perception and Understanding
LocationArea B
Session Time:Tuesday, 21 September, 15:30 - 17:00
Presentation Time:Tuesday, 21 September, 15:30 - 17:00
Presentation Poster
Topic Special Sessions: 3D Visual Perception and Understanding
IEEE Xplore Open Preview  Click here to view in IEEE Xplore
Abstract Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the existing 3D recognition models were developed based on dense 3D data. Nonetheless, in many real-life use cases, where robots are used to collect 3D data by haptic exploration, only a limited number of 3D points could be collected. In this study, we thus focus on solving the intractable problem of how to obtain cognitively representative 3D key-points of a target object with limited interactions between the robot and the object. A novel reinforcement learning based framework is proposed, where the haptic exploration procedure (the agent iteratively predicts the next position for the robot to explore) is optimized simultaneously with the objective 3D recognition with actively collected 3D points. As the model is rewarded only when the 3D object is accurately recognized, it is driven to find the sparse yet efficient haptic-perceptual 3D representation of the object. Experimental results show that our proposed model outperforms the state of the art models.