대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

상황 정보 기반 양방향 추론 방법을 이용한 이동 로봇의 물체 인식

Object Recognition for Mobile Robot using Context-based Bi-directional Reasoning

  • 임기현 (한양대학교 전자컴퓨터통신공학과) ;
  • 류광근 (한양대학교 전자컴퓨터통신공학과) ;
  • 서일홍 (한양대학교 전자컴퓨터통신공학과) ;
  • 김종복 (한양대학교 전자컴퓨터통신공학과) ;
  • 장국현 (한양대학교 전자컴퓨터통신공학과) ;
  • 강정호 (한양대학교 전자컴퓨터통신공학과) ;
  • 박명관 (동양대학교 IT전자공학과)
  • 발행 : 2007.04.27
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, We propose reasoning system for object recognition and space classification using not only visual features but also contextual information. It is necessary to perceive object and classify space in real environments for mobile robot. especially vision based. Several visual features such as texture, SIFT. color are used for object recognition. Because of sensor uncertainty and object occlusion. there are many difficulties in vision-based perception. To show the validities of our reasoning system. experimental results will be illustrated. where object and space are inferred by bi -directional rules even with partial and uncertain information. And the system is combined with top-down and bottom-up approach.

키워드