Accuracy improvement of functional attribute recognition by dense CRF considering object shape

Masaki Iizuka, Shuichi Akizuki, Manabu Hashimoto

Research output: Contribution to journalArticle


In this paper, we propose a method to recognize functional attributes of everyday objects for vision system of partner robots. On the related research, there is a method to optimize recognition result with dense (fully connected) conditional random field (CRF), which uses the estimation result of functional attribute for each pixel. However, since this method is optimized from RGB data, it is not able to sufficiently consider the shape of object, which has a relationship with the function attribute. In the proposed method, the recognition accuracy of functional attributes is improved by considering the object shape with the dense CRF describing the three-dimensional positional relationship. As a result of the experiment, the recognition rate of the proposed method is 77.0%, which is 3.8% higher than the related method. In addition, we confirmed that the processing speed is high as a side effect by reducing processing cost by oversegmentation of input data and using high-speed identification by Random Forests. The mean processing speed per an object was 109 ms in the proposed method.

Original languageEnglish
JournalElectronics and Communications in Japan
Publication statusAccepted/In press - 2019 Jan 1



  • affordance
  • dense CRF
  • functional attribute
  • partner robot

ASJC Scopus subject areas

  • Signal Processing
  • Physics and Astronomy(all)
  • Computer Networks and Communications
  • Electrical and Electronic Engineering
  • Applied Mathematics

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