Object Recognition for Mobile Robot using Context-based Bi-directional Reasoning

상황 정보 기반 양방향 추론 방법을 이용한 이동 로봇의 물체 인식

In this paper, We propose reasoning system for object recognition and space classification using not only visual features but also contextual information. It is necessary to perceive object and classify space in real environments for mobile robot. especially vision based. Several visual features such as texture, SIFT. color are used for object recognition. Because of sensor uncertainty and object occlusion. there are many difficulties in vision-based perception. To show the validities of our reasoning system. experimental results will be illustrated. where object and space are inferred by bi -directional rules even with partial and uncertain information. And the system is combined with top-down and bottom-up approach.