Recovery from segmentation failures using photometric invariance in an interactive object recognition system  [in Japanese]

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総務省戦略的情報通信研究開発推進制度(SCOPE)特定領域重点型研究開発 次世代ヒューマンインタフェース・コンテンツ技術視覚情報に基づく人間とロボットの対面およびネットワークコミュニケーション(051303007)平成17年度〜平成19年度 総務省戦略的情報通信研究開発推進制度(SCOPE)研究成果報告書(平成20年3月)研究代表者 久野 義徳(埼玉大学大学院理工学研究科 教授)より転載

We are developing a helper robot that carries out tasks ordered by the user through speech. The robot needs a vision system to recognize the objects appearing in the orders. It is, however, difficult to realize vision systems that can work in various conditions. Thus, we have proposed to use the human user's assistance through speech. When the vision system cannot achieve a task, the robot makes a speech to the user so that the natural response by the user can give helpful information for its vision system. Our previous system assumes that it can segment images without failure. However, if there are occluded objects and/or objects composed of multicolor parts, segmentation failures cannot be avoided. This paper presents an extended system that tries to recover from segmentation failures using photometric invariance. If the system is not sure about segmentation results, the system asks the user by appropriate expressions depending on the invariant values.


  • TENCON 2005 2005 IEEE Region 10

    TENCON 2005 2005 IEEE Region 10, 1-6, 2005



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