| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device that precisely and autonomously learns any object in an environment and its method of learning objects. SOLUTION: In an object-learning phase, an object recognition system 300 mounted in the robot device moves the movable part of an arm unit or the like on contact with an object to be learned, to cut out an object area image showing the object and to extract a feature quantity from the object area image for registration in an object model database. In an object-recognition phase, the system extracts the feature quantity of an input image picked up with a CCD camera provided in the head unit of the robot device, and compares the feature quantity with the feature quantity of another learned object registered in the object model database, thereby detecting any object present in the input image in real-time. COPYRIGHT: (C)2005,JPO&NCIPI
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