Integration method of local evidence for part-affordance estimation of everyday objects

Shuichi Akizuki, Masaki Iizuka, Kentaro Kozai, Manabu Hashimoto

    Research output: Contribution to journalArticle

    Abstract

    Shapes of everyday objects are designed to achieve the predefined purpose of use. In this research, we call various kind of inherent functions as "part-affordance", and we have developed the method to perceive it from point cloud captured by a depth sensor. Difficulty of the estimation of it is that same local surfaces do not always have same affordance. In order to deal with this issue, we propose a method which integrates the evidence generated by local feature while considering the continuity of surface structure. Our experiments using a publicly available datasets confirmed that the proposed method have increased the recognition rate from 57% to 73% in comparison with the previous method. Moreover, we demonstrated that the robot arm can perform the task according to estimated part-affordances.

    Original languageEnglish
    Pages (from-to)658-663
    Number of pages6
    JournalSeimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
    Volume84
    Issue number7
    DOIs
    Publication statusPublished - 2018 Jan 1

    Keywords

    • 3D object recognition
    • Affordance
    • Local evidence
    • Point cloud processing

    ASJC Scopus subject areas

    • Mechanical Engineering

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