Summary
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Interactive Object Recognition through Hypothesis Generation and Confirmation Md. Altab HOSSAIN Rahmadi KURNIA Akio NAKAMURA Yoshinori KUNO Publication IEICE TRANSACTIONS on Information and Systems Vol.E89-D No.7 pp.2197-2206 Publication Date: 2006/07/01 Online ISSN: 1745-1361 DOI: 10.1093/ietisy/e89-d.7.2197 Print ISSN: 0916-8532 Type of Manuscript: Special Section PAPER (Special Section on Machine Vision Applications) Category: Interactive Systems Keyword: segmentation, object recognition, human robot interaction, multimodal interface, interactive object recognition, Full Text: PDF(862.6KB)>>
Summary: An effective human-robot interaction is essential for wide penetration of service robots into the market. Such robot needs a vision system to recognize objects. It is, however, difficult to realize vision systems that can work in various conditions. More robust techniques of object recognition and image segmentation are essential. Thus, we have proposed to use the human user's assistance for objects recognition through speech. This paper presents a system that recognizes objects in occlusion and/or multicolor cases using geometric and photometric analysis of images. Based on the analysis results, the system makes a hypothesis of the scene. Then, it asks the user for confirmation by describing the hypothesis. If the hypothesis is not correct, the system generates another hypothesis until it correctly understands the scene. Through experiments on a real mobile robot, we have confirmed the usefulness of the system. | ||||||||||
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