Interactive Object Recognition System for a Helper Robot Using Photometric Invariance(<Special Section>Life-like Agent and its Communication)

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概要

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• copyright(c)2005 IEICE許諾番号：08RB0010We 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. Experimental results show the usefulness of the system.

• 社団法人電子情報通信学会の論文
• 2005-11-01

著者

• Hossain Md.

  Department of Medical Pharmacology, Institute of Health Biosciences, The University of Tokushima Gra

• NAKAMURA Akio

  Department of Material Science, Japan Atomic Energy Research Institute

• Hossain Md.

  Department Of Information And Computer Sciences Saitama University

• Kuno Yoshinori

  Department Of Information And Computer Sciences Saitama University

• Kuno Yoshinori

  Department Mechanical Engineering For Computer-controlled Machinery Osaka University

• Kuno Yoshinori

  The Department Of Information And Computer Sciences Saitama University

• KURNIA Rahmadi

  Deparment of Information and Computer Sciences, Saitama University

• Kurnia Rahmadi

  Department Of Information And Computer Sciences Saitama University

• Hossain Md.

  Department Of Biofunctional Chemistry Graduate School Of Natural Science And Technology Okayama Univ

• Nakamura Akio

  Department Of Information And Computer Sciences Saitama University

• 久野 義徳

  Deparment of Information and Computer Sciences, Saitama University

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