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

Yoshiaki Shirai

Electrotechnical 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 .

図1（b)最初に得られたエッジ列 — Fig. 1 (b) Initially obtained edge sequences

図1（c)直線と楕円で近似 — Fig. 1 (c) Approximation by lines and ellipses

図1（d)認識結果（0：スタンド，1：本立，2：電話機） — Fig. 1 (d) Recognition result (0: lamp, 1: book stand, 2: telephone)

図1（e)4回の繰り返しで得られたエッジ列 — Fig. 1 (e) Edge sequences obtained after 4 repetitions

図1（f)認識結果（カップ，パイプ，鉛筆類などが追加） — Fig. 1 (f) Recognition result (cup, pipe, pencil, etc. are added)

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