エピポーラ幾何を利用した呈示者視野復元に基づく模倣の実現

抄録

Imitation is an important capability for an intelligent robot to perform a variety of complicated tasks in the real world. It is one of the most interesting issues as a study of not simply accelerating behavior learning but also modeling the mechanism underlying human intelligence. From these viewpoints, a method for imitation based on the demonstrator's view recovery is proposed, in which the learner recovers the demonstrator's view that can be regarded as observing itself in its own view by assuming that the demonstrator's body structure is the same as the learner. The method is based on the opt-geometric constraint called “epipolar geometry” between the both views and on the adaptive visual servoing to follow the desired trajectory corresponding to the recovered demonstration in the learner's view. In order to estimate the parameters of epipolar geometry, we assume that the both initial postures are the same. It is shown that the learner can perform view-based imitation by the proposed method in the real robot experiment. Finally, we discuss our future work on imitation in the paradigm of demonstrator's view recovery.