1 1 1 1 2 1. Visual Recognition of Wire Harnesses for Automated Wiring Masaki Yoneda, 1 Takayuki Okatani 1 and Koichiro Deguchi 1 This paper presents a method for recognizing the pose of a wire harness in a given image; wire (or cable) harnesses are commonly used in the wiring of automobiles. Wire harnesses can be categorized into a difficult class of objects for visual recognition because of the high degrees of freedom of its pose variation due to its flexibility as well as lack of rich image features. To cope with these difficulties, the proposed method represents a wire harness by a combination of the parts that have a hierarchical structure, which are loosely related to the graph structure of the wire harness itself. The method estimates the position of each part by using the visual similarity of each part as well as the constraint on the positional relation among the parts imposed by the hierarchical structure. We show the efficacy of this method through several experimental results. wire harness 1 1 1 1 Tohoku University 1 1 c2010 Information
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2.2 (constellation) 1),2) R 1 R 2 3) 4) 3 5) BOF BOF 6) BOF Felzenszwalb 2.3 6) 2 7) 3 3 Felzenszwalb Bag-of-features(BOF) 8) 3 BOF R 1 R 2 R 0 C 2 C 9 0 4 3 c2010 Information
G = (V, E) V = {v 1,..., v n } (v i, v j ) E v i BOF v j v i l i l i v 1,..., v n L = {l 1,..., l n } I p(l I) L 1 1 p(l I) p(i L)p(L) (1) L BOF v i I l i I p(i L) = p(i l i ) (2) v i G 7) p(l) G p(l (v i,v j ) E i, l j ) p(l) = (3) v i V p(li)deg(v i) 1 deg(v i) v i G p(l i) v i n p(i L) p(i l i ) p(l i, l j ) (4) n 3. m i (l i ) + d ij (l i, l j ) (5) 3.1 m i (l i ) v i I d ij (l i, l j ) 3 v i i=1 i i=1 (v i,v j ) E (v i,v j ) E 4 c2010 Information
v i v j 3.2 (5) v i l i p(i l i ) v i v j l i, l j v i C 8 v i l i m i(l i) R 1 R 2 (v i, v j) E v i v j v i l i v j 4 λ if v j D 1(v i) d ij (l i, l j ) = αλ if v j D 2(v i) (6) v i l i 0 otherwise 3.4 λ m i (l i ) d ij HOG 9) SVM D 1(v i) v i l i LIBLINEAR 10) D 2(v i) D 1(v i) SIFT 11) BOF 8) SVM 0 < α < 1 3.3 (5) L 4. l i t i {l (1) i,..., l (t i) i } 4.1 l i t i (5) n t 1 4 i=1 i 6 10 4 v i Viterbi 7) v j v i m j(l j) + d ij(l i, l j) v i l i R 0 R 1 R 2 l j l i B j(l i) l i m i(l i) + d ki (l k, l i) + Bj(li) v 4 j k 4.2 l k l i B i(l k ) HOG 30 30 RGB3 HOG 3 1296 = 3888 R 4 C 2 C5 R R 6 R 0 5 C C 7 7 C 5 C9 0 C 2 R 4 R 1 R 2 C 5 C 5 R 5 C 7 C8 R 6 C 7 0 C 9 5 c2010 Information
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