Extraction of Dynamics-correlated Factors from Image Features in Pushing Motion of a Mobile Robot

Takahiro Inaba, Yuichi Kobayashi

Abstract

It is important for autonomous robots to improve capability of extracting information that is relevant to their motions. This paper presents an extraction and estimation of factors that affect behavior of object from image features in object pushing manipulation by a two-wheeled robot. Motions of image features (SIFT keypoints) are approximated with variance. By detecting correlation between the variance and positions of the keypoints, the robot can detect keypoints whose positions affect behaviour of some keypoints. Position information of the keypoints is expected to be useful for the robot to decide its pushing motion. The proposed scheme was verified in experiment with a camera-mounted mobile robot which has no pre-defined knowledge about its environment.

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Paper Citation


in Harvard Style

Inaba T. and Kobayashi Y. (2014). Extraction of Dynamics-correlated Factors from Image Features in Pushing Motion of a Mobile Robot . In Proceedings of the International Conference on Neural Computation Theory and Applications - Volume 1: NCTA, (IJCCI 2014) ISBN 978-989-758-054-3, pages 310-315. DOI: 10.5220/0005154003100315


in Bibtex Style

@conference{ncta14,
author={Takahiro Inaba and Yuichi Kobayashi},
title={Extraction of Dynamics-correlated Factors from Image Features in Pushing Motion of a Mobile Robot},
booktitle={Proceedings of the International Conference on Neural Computation Theory and Applications - Volume 1: NCTA, (IJCCI 2014)},
year={2014},
pages={310-315},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005154003100315},
isbn={978-989-758-054-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Neural Computation Theory and Applications - Volume 1: NCTA, (IJCCI 2014)
TI - Extraction of Dynamics-correlated Factors from Image Features in Pushing Motion of a Mobile Robot
SN - 978-989-758-054-3
AU - Inaba T.
AU - Kobayashi Y.
PY - 2014
SP - 310
EP - 315
DO - 10.5220/0005154003100315