ここで何ができる？認知ロボットのための深層機能シーン理解
What Can I Do Around Here? Deep Functional Scene Understanding for Cognitive Robots
屋内シーンからロボットが操作可能な機能領域を検出・認識する2段階の深層学習パイプラインを提案し、新たな評価データセットで有効性と汎化性を示した。
著者: Chengxi Ye, Yezhou Yang, Cornelia Fermuller, Yiannis Aloimonos
分類: cs.RO, cs.CV
原文アブストラクト
For robots that have the capability to interact with the physical environment through their end effectors, understanding the surrounding scenes is not merely a task of image classification or object recognition. To perform actual tasks, it is critical for the robot to have a functional understanding of the visual scene. Here, we address the problem of localizing and recognition of functional areas from an arbitrary indoor scene, formulated as a two-stage deep learning based detection pipeline. A new scene functionality testing-bed, which is complied from two publicly available indoor scene datasets, is used for evaluation. Our method is evaluated quantitatively on the new dataset, demonstrating the ability to perform efficient recognition of functional areas from arbitrary indoor scenes. We also demonstrate that our detection model can be generalized onto novel indoor scenes by cross validating it with the images from two different datasets.
