Multi-object recognition on the basis of vision and manipulation

Kazunori Ohno, Peter Andersson, Zhong Lei, Eijiro Takeuchi, Satoshi Tadokoro

研究成果: Conference contribution

抄録

The authors aim at recognition of multiple objects by using robot vision and its manipulation. In the case where multiple objects are arranged in a shelf, front objects may conceal some objects behind them. A robot can recognize these objects if it can recognize the front objects using prior knowledge and remove them with its arm. However, it sometimes fails to recognize the objects because of the lack of good features, a bad lighting condition etc. Here, we proposed a new method of the multi-object recognition using the manipulation. Recognized objects are removed using pick-up motion. Unrecognized objects are pushed for changing the angle when the robot cannot recognize them. We show the experimental results of our proposed method. From the results, we can confirm that the manipulation is useful for improving the multi-object recognition.

本文言語English
ホスト出版物のタイトル2010 IEEE/SICE International Symposium on System Integration
ホスト出版物のサブタイトルSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
ページ19-24
ページ数6
DOI
出版ステータスPublished - 2010 12月 1
イベント3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
継続期間: 2010 12月 212010 12月 22

出版物シリーズ

名前2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
国/地域Japan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • 制御およびシステム工学

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