Selection of Object Recognition Methods According to the Task and Object Category

Service robots need object recognition strategy that can work on various objects in complex backgrounds. Since no single method can work in every situation, we need to combine several methods so that the robots can use the appropriate one automatically. In this paper we propose a scheme to classify situations depending on the characteristics of object of interest and user demand. We classify the situations into four categories and employ different techniques for each one. We use SIFT, kernel PCA (KPCA) in conjunction with Support Vector Machine (SVM) using intensity and Gabor feature for four categories.We show that use of intensity feature or Gabor feature is important for the use of KPCA based techniques on different kinds of objects. Through our experiments, we show that by using our categorization scheme a service robot can select appropriate feature in kernel PCA based techniques and improve its recognition performance considerably.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