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Intelligent Autonomous Systems 13 pp 81–94Cite as

Cognitive Recognition Under Occlusion for Visually Guided Robotic Errand Service

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

A reliable vision system for running robotic errand service in an unstructured indoor environment such as homes is difficult to construct. Many visual challenges, such as perspective, clutter, illumination, and occlusion, need to be handled appropriately. While most of previous researches addressed these problems from the contexts of either object recognition or object searching, our proposed approach relies on a solution that combines these two as one. We are proposing a “Cognitive Recognition” System. In the proposed cognitive recognition system, information gathered from scene recognition helps deciding the next optimal perspective, and environmental parameters measurements determine the uncertainty in recognition measurements and thus the proper probability map update used in object search. We show particularly in this paper how this approach provides a practical solution to cluttered and occluded environments. And we demonstrate the results with our HomeMate Service Robot.

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Acknowledgments

This work is supported in part by MEGA Science R&D Project, funded by Ministry of Science ICT and Future Planning (NRF-2013MIA3A3A02042335), in part by Technology Innovation Program (10048320) funded by Ministry of Trade, Industry and Energy, and in part by Basic Science Research Program through NRF (NRF-2010-0020210) funded by Ministry of Education.

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Authors and Affiliations

  1. School of Information and Communication Engineering, Sungkyunkwan University, Suwon, South Korea

    Ahmed M. Naguib, Xi Chen & Sukhan Lee

Authors
  1. Ahmed M. Naguib
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  2. Xi Chen
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  3. Sukhan Lee
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Corresponding author

Correspondence to Sukhan Lee .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Naguib, A.M., Chen, X., Lee, S. (2016). Cognitive Recognition Under Occlusion for Visually Guided Robotic Errand Service. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_7

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

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