vision-based object recognition for environment perception (5-1)

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)

skee@kist.re.kr

Research Institutes : KIST

Researchers : 12 (KIST)

Project Leader