2A2-B20 PR2による把持動作のための複合視覚を用いた小型物体認識手法

抄録

In this paper we propose a method to recognize small objects on table top for tidy up task of PR2 robot using multiplex vision. Model construction and recognition algorithms are implemented using vision sensors with another settings, cubic primitive shape fitting calculated using stereo vision, image clopping and matching is applied to high resolution camera. As a result, we show some experimental result of tidy up task using proposed method.