TY - GEN
T1 - Multi-object recognition on the basis of vision and manipulation
AU - Ohno, Kazunori
AU - Andersson, Peter
AU - Lei, Zhong
AU - Takeuchi, Eijiro
AU - Tadokoro, Satoshi
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=79952777947&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79952777947&partnerID=8YFLogxK
U2 - 10.1109/SII.2010.5708295
DO - 10.1109/SII.2010.5708295
M3 - Conference contribution
AN - SCOPUS:79952777947
SN - 9781424493159
T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
SP - 19
EP - 24
BT - 2010 IEEE/SICE International Symposium on System Integration
T2 - 3rd International Symposium on System Integration, SII 2010
Y2 - 21 December 2010 through 22 December 2010
ER -