家庭用品の把持領域や自由度の情報を含む3Dモデルデータを用いたホームロボットの物体認識手法

抄録

In order for a robot to handle household items, it is necessary to grasp the kind, position, shape, etc. We utilize the object recognition method based on detailed 3D shape models. However, the 3D model is only shape information and there is no structure information. Therefore, it is difficult to recognize the variable part depending on DOF of household items. In this paper, when using the detailed 3D model matching method using Point Pair Feature (PPF), we create model data with grasp areas and DOF information on household items required for operation and propose an object recognition method of home robot with it.