作業用ロボットのための符号化マーカの提案―多様な配置やボケ環境下でも検出し易い符号化マーカ―

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2016/09/01

タイトル(英語): Proposal of an Encoded Marker for Working Robots―An Encoded Marker Easy to Detect in Various Positions and under Blur―

著者名: 小堀　訓成（トヨタ自動車（株）パートナーロボット部），出口　大輔（名古屋大学 情報戦略室），井手　一郎（名古屋大学 大学院情報科学研究科），村瀬　洋（名古屋大学 大学院情報科学研究科）

著者名(英語): Norimasa Kobori (Partner Robot Division, Toyota Motor Corporation), Daisuke Deguchi (Information Strategy Office, Nagoya University), Ichiro Ide (Graduate School of Information Science, Nagoya University), Hiroshi Murase (Graduate School of Information Science, Nagoya University)

キーワード: マーカ，スケールスペース理論，M系列，ボケ　　marker，scale-space theory，M-sequence，blur

要約(英語): It is becoming important for working robots to be able to identify and pick objects in various tasks. As in the recent Amazon Picking Challenge, using a marker for the picking task is a more practicable approach. However, a common marker code for working robots does not exist so far. Conventional marker codes as represented by QR code or ARToolKit marker cannot be reliably detected from various viewpoints. Thus in this paper, we propose a new encoded marker which is flexibile to the marker's positions and blur. The proposed marker can be detected by an approach based on the scale space theory independent from such conditions. In addition, the representation of data by M-sequence makes the encoded marker robust to blur. Experimental results showed the effectiveness of the proposed marker compared to the ARToolKit marker. Since the marker is more robust against ground clutter noise, various positions of markers and blur, it is more practicable.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.136 No.9 （2016） 特集：神経工学・サイバネティックス・生体工学

本誌掲載ページ: 1367-1375 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/136/9/136_1367/_article/-char/ja/