Interactive Teaching of Task-Oriented Visual Recognition

我们一直在研究一种个人服务机器人的互动教学，它可以帮助我们在日常的家庭或办公室环境中使用。本研究的结果如下：1.任务模型的表征。任务模型描述了操作的步骤，每个操作需要什么信息，以及每个信息的教学方法。当机器人执行操作时，它会检查任务模型，并检查它是否具有操作所需的信息。如果没有，机器人会请人类操作员来教它。通过这种方式，机器人引导机器人与人类之间的交互。2.物体的表征。我们研究了针对家庭或办公室中的许多物体要教给机器人的信息类型，并将这些信息分类为：形状、视图和机构作为不变部分，机构的位姿和状态作为可变部分。我们使用图形用户界面开发了具体的对象模型和教学方法，并针对冷冻机…等几个对象更多的人。3.对象信息的教学。我们开发了一种简单的示教场景中的信息位置的方法，以辅助机器人的目标识别。我们使用基于LED的设备来教机器人它们。根据这些位置信息以及任务模型和对象模型，机器人确定聚焦在哪个位置以及使用哪些图像特征进行识别。对象识别有时由于例如照明条件的改变而失败。基于对当前识别结果的分析和对可能情况的估计，提出了一种为完成目标识别而询问必要信息的方法。机器人获取有助于区分这种情况的信息。5.实验系统的开发。我们研制了一个六自由度机械手、一只手、三个摄像头、一个激光测距仪的个人服务机器人。我们进行了两项实验：从冰箱里取罐头和乘电梯。在实验中，我们成功地向机器人传授了几种用于视觉识别的信息。讲授信息的例子有：冰箱的形状和大小，门上把手的位置，电梯的门和按钮，到电梯大厅的路线。较少

We have been investigating an interactive teaching of personal service robots, which helps us in usual home or office enviromnents. The results of this research are as follows :1.Representation for task models. A task model describes steps of operations, what information is necessary for each operation, and a teaching method for each piece of information. When a robot executes an operation, it examines the task model and check if it has necessary information for the operation. If not, the robot asks a human operator to teach it. In this way, the robot leads the interaction between the robot and the human.2.Representation for objects. We examined what kinds of information to be taught to the robot for many objects in home or offices, and classify the information into the following : shape, view, and mechanism as an invariable part, and pose and state of the mechanism as a variable part. We develop concrete object models and teaching methods using GUI for several objects such as refriger … More ators.3.Teaching of object information. We develop a method of easily teaching informative positions in the scene for assisting object recognition of the robot. We teach the robot them using an LED-based device. From those position information as well as a task model and object models, the robot determines which position to focus on and which image features to use for recognition.4.Interactive vision. Object recognition sometimes fails due to, for example, changes of illumination condition. We develop a method of asking necessary information for completing object recognition based on the analysis of the current recognition result and the estimation of possible situations. The robot asks for the information which is useful for discriminating such situations.5.Development of experimental system. We develop a personal service robot which has a 6-DOF manipulator, a hand, three cameras, a laser range finder.6.Experiments. We performed experiments for two tasks : fetching a can from a refrigerator and taking an elevator. In the experiments, we successfully taught several kinds of information, used for visual recognition, to the robot. Examples of taught information are : shape and size of refrigerators, position of the handles on their doors, doors and buttons of an elevator, the route to the elevator hall. Less