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Multiple Object Detection and Localization using Range and Color Images for Service Robots
Dipankar Das,Yoshinori Kobayashi,Yoshinori Kuno 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In real-world applications, service robots need to locate and identify objects in ascene. A range sensor provides a robust estimate of depth information, which is useful to accurately locate objects in a scene. On the other hand, color information is an important property for object recognition task. The objective of this paper is to detect and localize multiple objects with in an image using both range and color features. The proposed method uses 3D shape features to generate promising hypotheses with in range images and verifies these hypotheses by using features obtaned from both range and color images.
Interactively Instructing a Guide Robot through a Network
Yosuke Hoshi,Yoshinori Kobayashi,Tomoki Kasuya,Masato Fueki,Yoshinori Kuno 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, we propose a remote-interactive mode for a museum guide robot. In this mode, the remote operator can interact with the robot by using voice and gestures through a network. The operator can instruct the robot what to do using nonverbal behaviors such as touching an object on the display screen while saying an instruction. For example, the operator can ask the robot, “Bring this brochure to him,” while first touching the brochure and then the person on the display. The brochure is detected and tracked using the SIFT feature matching between video camera images. After the robot takes the brochure, the robot detects and tracks the person, and then hands it to him to the person.