ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-N05
会議情報
1A1-N05 人と遠隔地のヒューマノイドロボットとの協調による物体探索(ホーム&オフィスロボット)
嘉手川 慎近嵐 公太杉山 淳一三浦 純
著者情報
会議録・要旨集 フリー

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This report describes a collaborative object search by a robot at a remote site and a human operator. The robot can autonomously search for a target object using an RGB-D camera. The robot performs the object search in the following three phases. First, the robot finds a desk and moves there. Then the robot extracts the candidate using a color. Finally, the robot recognizes the target object using SIFT features and estimates its pose. The operator examines the remote scene using a fish-eye camera on the remote robot, and gives advice on, for example, the object location to the robot. The robot then follows the advice to approach the target object. Experimental results show the effectiveness of the collaborative object search in comparison with a fully autonomous one.
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© 2014 一般社団法人 日本機械学会
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