| Project/Area Number |
23500243
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Wakayama University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
TOMITA Fumiaki 産業技術総合研究所, 関西産学官連携 センター, 招聘研究員 (90357575)
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000)
Fiscal Year 2011: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
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| Keywords | CIF特徴量 / HS－SHOT特徴量 / Hetero-BOOLアルゴリズム / 3次元物体認識 / 生活支援ロボット / HS-SHOT特徴量 / Kinect / スキャンマッチング / ARToolkit / 教師なしクラスタリング法 / 不変特徴量 / 3次元追跡法 / パーティクルフィルタ / キャリブレーション法 / 実時間軌道生成手法 / ダイポール場 |
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| Research Abstract |
In this study, we developed some techniques for building a seamless object modeling system using three-dimensional vision that does not require an off-line operation for modeling and can construct a model for the operation target of the robot and a part of the robot itself during on-line operation.
Firstly, as a basic technique for finding the same data in the multiple three-dimensional data, we developed a method to find the same data in multiple two-dimensional data. Secondly, we developed a new feature descriptor for three-dimensional object recognition system and constructed an object recognition system based on the feature descriptors. Finally, we developed a prototype of life support robot system equipped with a three-dimensional vision system that can accomplish a pick-and-place task in terms of everyday items.
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