MISC

2015年

2P1-E02 一人称視点RGB-D映像を用いた作業における手と物体の関係記録

ロボティクス・メカトロニクス講演会講演概要集
  • 島田 健史
  • ,
  • 池田 篤俊
  • ,
  • 高松 淳
  • ,
  • 小笠原 司

2015
0
開始ページ
_2P1
終了ページ
E02_1-_2P1-E02_4
記述言語
日本語
掲載種別
出版者・発行元
一般社団法人 日本機械学会

Recording manipulation tasks are very useful for teaching-by-demonstration and digital archiving of manipulation skills. In this paper, we propose a method for recording hand-object relationship during tasks using first-person RGB-D vision. First-person vision expands the recording area even though only one camera is used. Detection of changes from 3D information relieves complicated recognition by an RGB image. By detecting appearance/disappearance of an object under the region occluded by a hand, we estimate action of release/grasp and appearance of the target object. We verify the effectiveness of the proposed method through an experiment of a simple pick-and-place task.

リンク情報
CiNii Articles
http://ci.nii.ac.jp/naid/110010055727
CiNii Resolver ID
http://ci.nii.ac.jp/nrid/9000002407502