Emergence of Discriminating Object Function by Fingering Observation

2014 Fiscal Year Final Research Report

• Project/Area Number: 24500224
• 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: Ritsumeikan University
• Principal Investigator: SHIMADA NOBUTAKA 立命館大学, 情報理工学部, 教授 (10294034)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: 指使い / 画像認識 / 把持状態空間 / 機械学習 / 想起 / CNN / プロセスモデリング

Outline of Final Research Achievements

This research finally proposed a framework of learning relationship between ‘fingering’ and object appearances from samples which enables to infer the functional class of objects and remind the fingering and grasping way for a given object appearance, and experimentally showed its availability:
1) The method of estimating wrist position based on Hough Forest voting of Joint hand image features,2) The method of segmentation of the grasped object based on suitable grasping pattern bound to a certain object function class,3) The method of constructing ‘grasping pattern feature space’ which describes interaction states in object grasping by hand by using Sparse Stacked Convolutional Autoencoder,4) The method of reminding the grasping approach by hand from stimulus of a object appearance by using Convolutional Neural Network .

Free Research Field

画像認識