History of Robotics Research and Development of Japan1976SensingResearch on Desk Scene Analysis

Yoshiaki ShiraiElectrotechnical Laboratory (ETL)
A method was developed which recogninizes various objects in a gray image of a complex scene. The method was an extention of the heteroarchical method[1] for block world recognition. The system extracts obvious edges, obtains sequences of the edges by edge tracking, approximates each edge sequence with lines and ellipses, and then tries to recognize objects. Next, using the previous recognition result, the system extracts less obvious features to recognizes other objects. By repeating this process, objects are recognized more accurately and efficiently(FIg.1 shows an example). This scheme was widely accepted for recognition of complex scenes[2,3,4] which were previously regarded as difficult .
Fig. 1 (a) Desk scene
Fig. 1 (b) Initially obtained edge sequences
Fig. 1 (c) Approximation by lines and ellipses
Fig. 1 (d) Recognition result (0: lamp, 1: book stand, 2: telephone)
Fig. 1 (e) Edge sequences obtained after 4 repetitions
Fig. 1 (f) Recognition result (cup, pipe, pencil, etc. are added)


Correspondence papers

Yoshiaki Shirai:A Method for Recognition of Complex Objects from Light Intensity Data

Journal of the IPS,Vol. 17, No. 7, pp. 611-617, 1976 (in Japanese).

Related papers

[1]Y. Shirai: A Context Sensitive Line Finder for Recognition of Polyhedra, Artificial Intelligence, Vol.4, No.2, pp.95-119 1973

[2]Y. Shirai: A Step toward Context Sensitive Recognition of Irregular Objects, Computer Graphics and Image Processing, Vol.2, No.3/4, pp.298-307 1973

[3]Y. Shirai: Edge Finding, Segmentation of Edges and Recognition of Complex Objects, 4th Int. Joint Conf. on Artificial Intelligence, pp.674-681 1975

[4]Y. Shirai: Recognition of Real-World Objects Using Edge Cue, Academic Press, pp.353-362 1978

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