Probabilistic Interactive Segmentation for Anthropomorphic Robots in Cluttered Environments

Herke van Hoof, Oliver Kroemer and Jan Peters
Conference Paper, International Conference on Humanoid Robots (Humanoids), January, 2013

Download Publication

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.


Recognition and manipulation of novel objects in human environments are a prerequisite for many tasks of robots. Since objects often occur in clutter, such robots should be capable of segmenting their environment into individual objects before attempting to learn the objects’ properties. In this paper, we propose a probabilistic part-based approach to interactive segmentation of cluttered scenes containing multiple novel objects. Our experiments show that our probabilistic approach outperforms commonly employed heuristics. Furthermore, the probability distribution over segmentations enables principled selection of informative actions.

@conference{van Hoof-2013-112207,
author = {Herke van Hoof and Oliver Kroemer and Jan Peters},
title = {Probabilistic Interactive Segmentation for Anthropomorphic Robots in Cluttered Environments},
booktitle = {International Conference on Humanoid Robots (Humanoids)},
year = {2013},
month = {January},
} 2019-03-12T13:09:20-04:00