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arXiv · 1808.06679

Annotation Scaffolds for Object Modeling and Manipulation

Pablo Frank-Bolton·Rahul Simha
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Abstract

We present and evaluate an approach for human-in-the-loop specification of shape reconstruction with annotations for basic robot-object interactions. Our method is based on the idea of model annotation: the addition of simple cues to an underlying object model to specify shape and delineate a simple task. The goal is to explore reducing the complexity of CAD-like interfaces so that novice users can quickly recover an object's shape and describe a manipulation task that is then carried out by a robot. The object modeling and interaction annotation capabilities are tested with a user study and compared against results obtained using existing approaches. The approach has been analyzed using a variety of shape comparison, grasping, and manipulation metrics, and tested with the PR2 robot platform, where it was shown to be successful.

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Pablo Frank-Bolton, Rahul Simha. 2018-08-20. Annotation Scaffolds for Object Modeling and Manipulation. https://arxiv.org/abs/1808.06679

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