| Presentation | 2019-01-17 Recalling candidates of gripping hand shapes from an object image using neural network Makoto Sanada, Tadashi Matsuo, Nobutaka Shimada, Yoshiaki Shirai, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Robots are required to support people’s work. In order to alleviate the burden on people, it is desirable that robot can automatically generate and execute complicated motions according to simple directions from human. However, there are a plurality of grasping methods for one object. In order to select a motion suitable for the direction, it is important to estimate grasping method candidates for the object. In this research, we purpose to recall candidates of grasping position and hand shape from an object image. In learning, a network that outputs a plurality of grasping method candidates for one object image to each channel of a multi-channel image is used. At this time, a plurality of grasping methods are not learned at same time, learned one by one. The similar grasping method for the similar object shape is automatically clustered to each output channel in the learning process, and a grasping method having a characteristic difference is presented as a candidate. We show the usefulness of this method using experimental examples. |
| Keyword(in Japanese) | (See Japanese page) |
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| Paper # | PRMU2018-103,MVE2018-45 |
| Date of Issue | 2019-01-10 (PRMU, MVE) |
| Conference Information | |
| Committee | PRMU / MVE / IPSJ-CVIM |
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| Conference Date | 2019/1/17(2days) |
| Place (in Japanese) | (See Japanese page) |
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| Topics (in Japanese) | (See Japanese page) |
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| Chair | Shinichi Sato(NII) / Kenji Mase(Nagoya Univ.) |
| Vice Chair | Yoshihisa Ijiri(Omron) / Toru Tamaki(Hiroshima Univ.) / Masayuki Ihara(NTT) |
| Secretary | Yoshihisa Ijiri(NEC) / Toru Tamaki(Osaka Univ.) / Masayuki Ihara(NTT) / (Kyushu Univ.) |
| Assistant | Go Irie(NTT) / Yoshitaka Ushiku(Univ. of Tokyo) / Satoshi Nishiguchi(Oosaka Inst. of Tech.) / Masanori Yokoyama(*) |
| Paper Information | |
| Registration To | Technical Committee on Pattern Recognition and Media Understanding / Technical Committee on Media Experience and Virtual Environment / Special Interest Group on Computer Vision and Image Media |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Recalling candidates of gripping hand shapes from an object image using neural network |
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| 1st Author's Name | Makoto Sanada |
| 1st Author's Affiliation | Ritsumeikan University(Ritsumeikan Univ.) |
| 2nd Author's Name | Tadashi Matsuo |
| 2nd Author's Affiliation | Ritsumeikan University(Ritsumeikan Univ.) |
| 3rd Author's Name | Nobutaka Shimada |
| 3rd Author's Affiliation | Ritsumeikan University(Ritsumeikan Univ.) |
| 4th Author's Name | Yoshiaki Shirai |
| 4th Author's Affiliation | Ritsumeikan University(Ritsumeikan Univ.) |
| Date | 2019-01-17 |
| Paper # | PRMU2018-103,MVE2018-45 |
| Volume (vol) | vol.118 |
| Number (no) | PRMU-404,MVE-405 |
| Page | pp.pp.51-55(PRMU), pp.51-55(MVE), |
| #Pages | 5 |
| Date of Issue | 2019-01-10 (PRMU, MVE) |