Discriminative Optimizationを用いた食器の形状と位置姿勢の同時推定

抄録

In recent years the market size of robots for homes has increased. One of the tasks expected to be automated by robots at home is to clean up dishes. In order to introduce a system to an environment that handles various kinds of dish, development of a mechanism capable of grasping various types of dish and an image recognition technology capable of recognizing various types of dishes are required. In this paper, we propose shape estimation and pose estimation of dishes of unknown shape for dish storage robot system. The proposed method expresses the three dimensional shape of dish by mathematical model and expresses the shape of various kinds of dish by changing parameters. Estimation of three dimensional shape and pose of dish is realized by simultaneous estimation of shape. We estimate shape and pose by estimating parameters of mathematical model of dish and pose of dish.