2P1-E02 一人称視点RGB-D映像を用いた作業における手と物体の関係記録 2P1-E02 Recording Hand-Object Relationship During Tasks Using First-Person RGB-D Vision
Recording manipulation tasks are very useful for teaching-by-demonstration and digital archiving of manipulation skills. In this paper, we propose a method for recording hand-object relationship during tasks using first-person RGB-D vision. First-person vision expands the recording area even though only one camera is used. Detection of changes from 3D information relieves complicated recognition by an RGB image. By detecting appearance/disappearance of an object under the region occluded by a hand, we estimate action of release/grasp and appearance of the target object. We verify the effectiveness of the proposed method through an experiment of a simple pick-and-place task.
ロボティクス・メカトロニクス講演会講演概要集 2015(0), _2P1-E02_1-_2P1-E02_4, 2015