vision-based object recognition for environment perception (5-1)
DESCRIPTION
Vision-based Object Recognition for Environment Perception (5-1). Background of research. • Vision-based object recognition is a core technology for a human-friendly service robot. ▪ Human-friendly autonomous navigation “Seeing a sofa, this may be a living room.” - PowerPoint PPT PresentationTRANSCRIPT
Vision-based Object Recognition for Environment Perception (5-1) Background of research
Research objectives
• Vision-based object recognition is a core technology for a human-friendly service robot.
▪ Human-friendly autonomous navigation
“Seeing a sofa, this may be a living room.”
▪ Object-centered human-robot interaction
“T-rot! These are my glasses. Remember them!”
• Vision-based object recognition technologies
▪ Specific object recognition (Identification)
▪ Category object recognition
▪ Multi-modal based object modeling/learning
• Object-based environment perception
▪ Perception of spatial relationship between objects
▪ Object-based mapping and global localization
Door
Sofa
TV
Research contents
Vision-based Object Recognition for Environment Perception (5-1)
• Specific/Category object recognition
▪ LIF+Contour Fragment / Spectral Matching
• Multi-modal based object modeling/learning
▪ SFM/hand gesture + voice + category OR
• Perception spatial relationship between objects
▪ Ontology + Stereo depth + Object recognition
• Object-based mapping and global localization
▪ object + topology map/ 2-view based localization
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ObjectModeler
Objectverificati
on
HumanDetector
Task : Register(PS)Task : Register(PS)Task : Register(PS)Task : Register(PS)
(1-3)상호작용
““Register this pencil sharpenerRegister this pencil sharpener!!””““Register this pencil sharpenerRegister this pencil sharpener!!””
ObjectLearner
ObjectDetector
Sung-Kee Park
Senior Research Scientist, Center for Cognitive Robotics Research
Korea Institute of Science and Technology (KIST)
Research Institutes : KIST
Researchers : 12 (KIST)
Project Leader