Interactive Object Recognition through Hypothesis Generation and Confirmation

  • Authors:

  • Md. Altab Hossain;Rahmadi Kurnia;Akio Nakamura;Yoshinori Kuno

  • Affiliations:

  • The authors are with the Deparment of Information and Computer Sciences, Saitama University, Saitama-shi, 338--8570 Japan. E-mail: hossain@cv.ics.saitama-u.ac.jp,;The authors are with the Deparment of Information and Computer Sciences, Saitama University, Saitama-shi, 338--8570 Japan. E-mail: hossain@cv.ics.saitama-u.ac.jp,;The author is with the Department of Machinery System Engineering, Tokyo Denki University, Tokyo, 101--8457 Japan.;The authors are with the Deparment of Information and Computer Sciences, Saitama University, Saitama-shi, 338--8570 Japan. E-mail: hossain@cv.ics.saitama-u.ac.jp,

  • Venue:
  • IEICE - Transactions on Information and Systems
  • Year:
  • 2006

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Abstract

An effective human-robot interaction is essential for wide penetration of service robots into the market. Such robot needs a vision system to recognize objects. It is, however, difficult to realize vision systems that can work in various conditions. More robust techniques of object recognition and image segmentation are essential. Thus, we have proposed to use the human user's assistance for objects recognition through speech. This paper presents a system that recognizes objects in occlusion and/or multicolor cases using geometric and photometric analysis of images. Based on the analysis results, the system makes a hypothesis of the scene. Then, it asks the user for confirmation by describing the hypothesis. If the hypothesis is not correct, the system generates another hypothesis until it correctly understands the scene. Through experiments on a real mobile robot, we have confirmed the usefulness of the system.