抄録
For robots observing and learning human tasks, changes of objects' velocity and their access, or contingence have been proposed as events that segment human actions. In this paper, we propose a novel event for segmentation, superposition. Superposition can be calculated only with front surface's information of manipulated objects. Additionally, it can be useful in recognizing functions of daily objects. Second, a visual system to track multi-objects and to estimate their superposition is proposed. This system is an expanded template matching which uses an anticipated non shielded image to track an object, a non shielded image to estimate visual changes of an object. Finally, we tested out this system by an experiment that HRP-2VZ humanoid vision system with the estimating system observed a human using a tool in daily environment. This result showed the effectiveness of our approach.
