Integration of multiple methods for robust object recognition

摘要

Service robots need to be able to recognize and identify objects located within complex backgrounds. Since no single method may work in every situation, several methods need to be combined so that robots can select the appropriate one automatically. In this paper we propose a scheme to classify situations depending on the characteristics of the object of interest and user demand. We classify situations into four categories and employ different techniques for each. We use SIFT, kernel PCA (KPCA) in conjunction with Support Vector Machine (SVM) using intensity, color, and Gabor features for four categories. We show that the use of appropriate features is important for the use of KPCA and SVM based techniques on different kinds of objects. Through experiments we show that by using our categorization scheme a service robot can select an appropriate feature and method, and considerably improve its recognition performance. Yet, recognition is not perfect. Thus, we propose to combine the autonomous method with an interactive method that allows the robot to recognize the user request for a specific object and class when the robot fails to recognize the object.