Object Segmentation and Successive Modeling Based on Human Action Observation

• Project/Area Number: 23500242
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Osaka University
• Principal Investigator: MAE Yasushi 大阪大学, 基礎工学研究科, 准教授 (50304027)
• Project Period (FY): 2011 – 2013
• Project Status: Completed (Fiscal Year 2013)
• Budget Amount: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000); Fiscal Year 2013: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2011: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
• Keywords: 行動環境認識 / 物体モデリング / 行動モニタリング / 知能ロボティクス

Research Abstract

I developed a method to acquire automatically the appearance model of objects moved by human in everyday environments. It solves the problem that automatic visual segmentation of everyday objects in life environment without specific knowledge about objects. The experimental results show the method can automatically acquire the object images as the appearance models of the objects by using human action which moves objects by hands in everyday life.

Research Products

• [Journal Article] Multi-Lighting for Unknown Objects Segmentation in Cluttered Environment (2014)
  • Author(s): Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tatsuo Arai
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Volume: Vol.7 Pages: 90-95
  • Peer Reviewed
• [Journal Article] Spherical Spaces for Illumination Invariant Face Relighting (2013)
  • Author(s): Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, Tatsuo Arai
  • Journal Title: Journal of Robotics and Mechatronics Volume: Vol.25 Pages: 840-847
  • Peer Reviewed
• [Journal Article] HUMAN{ROBOT COLLISION AVOIDANCE USING A MODIFIED SOCIAL FORCE MODEL WITH BODY POSE AND FACE ORIENTATION (2013)
  • Author(s): Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai
  • Journal Title: International Journal of Humanoid Robotics, World Scientific Volume: 10 Issue: 01 Pages: 1-24
  • DOI: 10.1142/s0219843613500084
  • Peer Reviewed
• [Journal Article] Web-enhanced object category learning for domestic robots (2013)
  • Author(s): Christian I. Penaloza, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai
  • Journal Title: Intelligent Service Robotics Volume: Vol.6 Pages: 53-67
  • Peer Reviewed
• [Journal Article] Spherical Spaces for Illumination Invariant Face Relighting (2013)
  • Author(s): Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, and Tatsuo Arai
  • Journal Title: Journal of Robotics andMechatronics Volume: 25 Pages: 840-847
  • Peer Reviewed
• [Journal Article] Web-enhanced object category learning for domestic robots (2013)
  • Author(s): Christian I Penaloza, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai
  • Journal Title: Intelligent Service Robotics, Springer Volume: 6 Issue: 1 Pages: 53-67
  • DOI: 10.1007/s11370-012-0126-y
  • Peer Reviewed
• [Presentation] Autonomous Modeling of Unknown Hand Grasp Object via Tracking in a Cluttered Environments (2014)
  • Author(s): Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai
  • Organizer: 2014 International Symposium on Flexible Automation
  • Place of Presentation: Awaji-Island, Japan
• [Presentation] Autonomous Acquisition of Generic Handheld Objects in Unstructured Environments via Sequential Back-Tracking for Object Recognition (2014)
  • Author(s): Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai
  • Organizer: 2014 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Hong Kong, China
• [Presentation] Social Navigation Model Based on Human Intention Analysis Using Face Orientation (2013)
  • Author(s): Ratsamee Photchara, Yasushi Mae, Kenichi Ohara, Masaru Kojima, Tatsuo Arai
  • Organizer: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Tokyo, Japan
• [Presentation] Lifelogging Keyframe Selection Using Image Quality Measurements and Physiological Excitement Features (2013)
  • Author(s): Ratsamee Photchara, Yasushi Mae, Jinda-Apiraksa Amornched, Machajdik Jana, Kenichi Ohara, Masaru Kojima, Sablatnig Robert, Tatsuo Arai
  • Organizer: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Tokyo, Japan
• [Presentation] BMI-based Learning System for Appliance Control Automation (2013)
  • Author(s): Christian Penaloza, Yasushi Mae, Kenichi Ohara, and Tatsuo Arai
  • Organizer: 2013 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Karlsruhe, Germany
• [Presentation] Lifelogging Keyframe Selection using Image Quality Measurements and Physiological Excitement Features (2013)
  • Author(s): Photchara Ratsamee, Yasushi Mae, Amornched Jinda-apiraksa, Jana Machajdik, Kenichi Ohara, Masaru Kojima, Robert Sablatnig, Tatsuo Arai
  • Organizer: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Tokyo, Japan
• [Presentation] Social Navigation Model based on Human Intention Analysis using Face Orientation (2013)
  • Author(s): Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Masaru Kojima, Tatsuo Arai
  • Organizer: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Tokyo, Japan
• [Presentation] Using Depth to Increase Robot Visual Attention Accuracy during Tutoring (2012)
  • Author(s): Christian I. Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai
  • Organizer: Proceedings of Humanoids 2012 Workshop on Developmental Robotics
  • Place of Presentation: Osaka, Japan
  • Year and Date: 2012-11-29
• [Presentation] 特定物体モデルからの WEB を利用した物体カテゴリ学習 (2012)
  • Author(s): ペナロサ・クリスチャン, 前泰志, 大原賢一, 田窪朋仁, 新井健生
  • Organizer: 第17回ロボティクスシンポジア
  • Place of Presentation: 萩
  • Year and Date: 2012-03-15
• [Presentation] Software Interface for Controlling Diverse Robotic Platforms using BMI (2012)
  • Author(s): Christian Isaac Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai
  • Organizer: 2012 IEEE/SICE International Symposium on System Integration
  • Place of Presentation: Fukuoka, Japan
• [Presentation] 2D Spherical Spaces for Face Relighting under Harsh Illumination (2012)
  • Author(s): Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, Tatsuo Arai
  • Organizer: International Conference on Signal and Image Processing
  • Place of Presentation: Rome, Italy
• [Presentation] 2D Spherical Spaces for Objects Recognition under Harsh Lighting Conditions (2012)
  • Author(s): Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tatsuo Arai
  • Organizer: The 21st IEEE International Symposium on Robot and Human Interactive Communication
  • Place of Presentation: Paris, France
• [Presentation] Social Human Behavior Modeling for Robot Imitation Learning (2012)
  • Author(s): Christian I. Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai
  • Organizer: Proceedings of 2012 IEEE International Conference on Mechatronics and Automation
  • Place of Presentation: Chengdu, China
• [Presentation] People Tracking with Body Pose Estimation for Human Path Prediction (2012)
  • Author(s): Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai
  • Organizer: Proceedings of 2012 IEEE International Conference on Mechatronics and Automation
  • Place of Presentation: Chengdu, China
• [Presentation] 人の物体移動行動の観測による物体の見えモデルの獲得 (2012)
  • Author(s): 前泰志, クリスチャン・ペナロザ, 大原賢一, 小嶋勝, 新井健生
  • Organizer: 日本ロボット学会第30回記念学術講演会
  • Place of Presentation: 札幌
• [Presentation] Software Interface for Controlling Diverse Robotic Platforms using BMI (2012)
  • Author(s): Christian Isaac Penaloza, Yasushi Mae, Kenichi Ohara and Tatsuo Arai
  • Organizer: 2012 IEEE/SICE International Symposium on System Integration
  • Place of Presentation: Fukuoka
• [Presentation] Using Depth to Increase Robot Visual Attention Accuracy during Tutoring (2012)
  • Author(s): Christian I. Penaloza, Yasushi Mae, Kenichi Ohara and Tatsuo Arai
  • Organizer: Proceedings of Humanoids 2012 Workshop on Developmental Robotics
  • Place of Presentation: Osaka
• [Presentation] 特定物体モデルからのWEBを利用した物体カテゴリ学習 (2012)
  • Author(s): ペナロサ クリスチャン、前 泰志、大原 賢一、田窪 朋仁、新井 健生
  • Organizer: ロボティクスシンポジア
  • Place of Presentation: 萩本陣（山口県）