Structure and Mechanism Estimation of an Articulated Object by Motion Observation
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概要
- 論文の詳細を見る
In this paper, we propose a method to construct structure models of articulated objects from multiple local observations of their motion using state transition analysis of local geometric constraints. The object model is constructed by a bottom-up approach with three levels. Each level groups sensor data with a constraint among local features observed by the sensor, and constructs the local model. If the sensor data in current model conflict, the model is reconstructed. In each level, the first level estimates a local geometric feature from the local sensor data (eg. edge, feature point) The second level estimates a rigid body from the local geometric feature. The third level estimates an object from the rigid bodies. In the third level, the constraint between rigid bodies is estimated by transition states, which are motions between rigid bodies. This approach is implemented on a blackboard system.
- 社団法人電子情報通信学会の論文
- 1997-07-25
著者
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NAGASAKI Takeshi
Department of Applied and Bioapplied Chemistry, Graduate School of Engineering, Osaka City Universit
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Aoki Yoshinao
Department of Electronics and Information Engineering, Graduate School of Engineering, Hokkaido Univ
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Aoki Yoshinao
Department Of Electronics And Information Engineering Graduate School Of Engineering Hokkaido Univer
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Nagasaki Takeshi
Department Of Information Engineering Faculty Of Engineering Hokkaido University
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Nagasaki Takeshi
Department Of Applied And Bioapplied Chemistry Graduate School Of Engineering Osaka City University
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KAWASHIMA Toshio
Department of Information Engineering, Faculty of Engineering, Hokkaido University
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Kawashima Toshio
Department Of Information Engineering Faculty Of Engineering Hokkaido University
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Aoki Yoshinao
Department Of Information Engineering Faculty Of Engineering Hokkaido University
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