(MIRU2008) 2008 7 525 8577 1 1 1 E-mail: matsuzaki@i.ci.ritsumei.ac.jp, shimada@ci.ritsumei.ac.jp Object Recognition by Observing Grasping Scene from Image Sequence Hironori KASAHARA, Jun MATSUZAKI, Nobutaka SHIMADA, and Hiromi TANAKA College of Information Science and Engineering, Ritsumeikan University Nojihigashi 1 1 1, Kusatsu-shi, Shiga, 525 8577 Japan E-mail: matsuzaki@i.ci.ritsumei.ac.jp, shimada@ci.ritsumei.ac.jp Abstract The aim of this paper is the simultaneous restoration of incorrectly segmented the grasped object and grasping hand from the complex background and the recognition of the grasping method class. Key words Object recognition, Grasping method, Image interpolation 1. [1] SIFT [2] HoG [3] ( ) Sato [4] [5] [6] [7] [8] Napier 1 Power grasp() Presicion() 2 [7] 1 Napier () 100 15 [8] 623
[9] [10] (BPLP ) [11] [12] ( PCA) BPLP 2. 2. 1 [8] 15 6 6 [8] a) - (Power Grip-Standard Type,PoS) 1 3 - (Power Grip-Index Extension Type,PoI) c) - (Parallel Mild Flexion Grip,PMF) 4 - (Parallel Mild Flexion Grip,PMF) d) - (Tip Grip,Tip) 5 - (Tip Grip,Tip) e) -- (Tripod Grip-Standard Type,Tpd) 6 -- (Tripod Grip-Standard Type,Tpd) f) - (Lateral Grip,Lat) 7 - (Lateral Grip,Lat) 2 - (Power Grip-Standard Type,PoS) b) - (Power Grip-Index Extension Type,PoI) 2. 2 8 624
8 1. : 2. : 2 100 100 0 3. : v h 4. : 2 v 2h 2. 3 PCA X =(x 1 x 2 x 3 x p) p = v h ((1) ). ( 60 ) 2. 4 (BPLP [11] (2) ). ˆp = argmin (E ˆp x) T Σ(E ˆp x) (1) ˆp:p: x: Σ: [12] BPLP 10 1 2.2 x 2 x i E i, E i ˆp k 3 E i ˆp k x 4 ( R k ) 0 x ˆx k+1 5 ˆx k+1 E i, E i ˆp k 6 (3) (5) (2) (3) ˆp k = E T ˆx k (2) ˆx k+1 = R k E ip k+1 +(I R k ) x (3) 9 ˆx k :k ˆp k :k E i:i I: R k :k ( 1 0 ) 625
2. 5 D D D(C k )= Σ p i= 1 ( x C i ˆx k i ) 2 (4) 10 ˆp k (1) Σ=I R k ˆp BPLP () 11 11 :: 12 11 12 13 14 12 : 11 13 11 : : : BPLP 14 12 13 14 C k :k x i: i C ˆx k i :k i 2. 5. 1 2.4 [0,1] () (5) D D (C k )= Σ p i= 1 ( xi ˆxiC k ) 2 /A i(c k ) 2 (5) A i(c k ): C k i 2. 5. 2 2.5.1 2.5.1 2 (8) D D (C k )= Σ p i=1,j=1 (S 1 ij ( x (C i ˆx k ) (C i )( x j ˆx k ) j ) (6) S 1 ij : 2 (i j) 626
2. 6 D( D D ) ( ) if : 1.2 1 else if: 1.2 3. 2.1 6 2 18 13 9000 25*50 1250 80 65 2.5 15 15 2.2 25 50 1250 2.3 65 80 80 2.5 15 - (PoS) - (PoI) (PMF) (Tip) (Lat) ( ) ( ) ( ) - (Tpd) ( ) ( ) 1 15 : : : : 1 ( ) 2 BPLP (4) ( ) 3 (5) ( ) 4 (6) ( ) 4 16 17 16 17 627
2 ( ) (1) (2) (3) (4) PoS( ) 27(31) 38(44) 83(100) 45(56) PoI () 67(75) 53(75) 65(75) 89(100) PMF() 97(100) 94(100) 98(100) 97(100) Tip() 84(100) 81(94) 9(0) 55(69) Tpd() 85(94) 85(100) 78(94) 38(38) Lat( ) 44(44) 42(56) 30(31) 8(0) 2 () 2 (1)(2) (3) (3) (1)(2) PoS PoI PMF Tpd Tip Lat 18 (2)(3) 18 ( ) 18 (3) Tip Pos Tpd Lat PMF PoS Tpd Tip Lat PMF Lat 19 Lat PMF Lat PMF Lat 19 : : : () (4) (4) (1)(2) PoS PoI PMF Tip Tpd Lat (3) PoI PMF Tip PoS Tpd Lat 18 (4) PoS PoI Tpd Lat 4. 6 24 3 [1] P. Viola and M. Jones, Rapid object detection using a boosted cascade of simple features, Proc. on IEEE Conf. on CVPR Vol.1, pp.511-518, 2001. [2] G. Csurka, C.R. Dance, L. Fan, and C. Bray, Visual categorization with bags of keypoints, Proc. of IEEE Conf. on ECCV, pp. 1-22, 2004. [3] N. Dalal, B. Triggs, Histograms of oriented gradients for human detection, Proc. of IEEE Conf. on CVPR, pp. 886-893, 2005. [4] Y. Sato and T. Nagai, Learning of Object Concept Through Function and Shape, IEEE Region 10 Conf.on TENCON 2006, pp.1-4, Nov. 2006. [5],,,, PRMU2002-213, pp.13-18, Feb. 2003. [6],, IE2003-36, PRMU2003-66, MVE2003-48, pp.53-58, Jul. 2003 [7] J. Napier, The prehensile movements of the human hand, J. Bone and Joint Surgery, 38B,4, pp.902-913, Nov. 1956. [8] Noriko Kamakura,,, May. 1989. [9] A. Imai, N. Shimada and Y. Shirai, 3-D Hand Posture Recognition by Training Contour Variation, Proc. of 6th Int. Conf. on Automatic Face and Gesture Recognition, pp.895-900, May. 2004. [10] Y. Hamada, N. Shimada and Y. Shirai, Hand Shape Estimation under Complex Backgrounds for Sign Language Recognition, Proc. of 6th Int. Conf. on Automatic Face and Gesture Recognition, pp.589-594, May. 2004. [11], BPLP, D-II, Vol.J85-D-II, No.3, pp.457-465 Mar. 2002. [12],,,,, Vol. J89-D, No. 4,pp.826-835, Apr. 2006. 628