Abstract
Personal service robots are expected to help people in their daily life in a near future as we are facing an aging society. We deal with tasks of searching for target objects in a distant place instead of the user. But in general, a target object may not he visible clue to other objects on it. It is inefficient to pick up and check all objects in such a case. In this research, we deal with cuboids in a howl, and develop a. system that can effectively search for and pick up hidden target objects by estimating the state of occluded areas which are covered by others. We estimate the sizes and the poses of detected objects, calculate the occluded areas behind them, and determine if a target object exists in each area. We conducted experiments for several cases and confirmed the effectiveness of the proposed approach.
