Specific and Class Object Recognition for Service Robots through Autonomous and Interactive Methods

Al MANSUR  Yoshinori KUNO  

IEICE TRANSACTIONS on Information and Systems   Vol.E91-D   No.6   pp.1793-1803
Publication Date: 2008/06/01
Online ISSN: 1745-1361
DOI: 10.1093/ietisy/e91-d.6.1793
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Image Recognition, Computer Vision
service robot,  object recognition,  SIFT,  KPCA,  SVM,  human-robot interaction,  

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Service robots need to be able to recognize and identify objects located within complex backgrounds. Since no single method may work in every situation, several methods need to be combined and robots have to select the appropriate one automatically. In this paper we propose a scheme to classify situations depending on the characteristics of the object of interest and user demand. We classify situations into four groups and employ different techniques for each. We use Scale-invariant feature transform (SIFT), Kernel Principal Components Analysis (KPCA) in conjunction with Support Vector Machine (SVM) using intensity, color, and Gabor features for five object categories. We show that the use of appropriate features is important for the use of KPCA and SVM based techniques on different kinds of objects. Through experiments we show that by using our categorization scheme a service robot can select an appropriate feature and method, and considerably improve its recognition performance. Yet, recognition is not perfect. Thus, we propose to combine the autonomous method with an interactive method that allows the robot to recognize the user request for a specific object and class when the robot fails to recognize the object. We also propose an interactive way to update the object model that is used to recognize an object upon failure in conjunction with the user's feedback.