Learning and Detecting Objects with a Mobile Robot to Assist Older Adults in Their Homes

摘要

Older adults reported that a robot in their homes would be of great help if it could find objects that users regularly search for. We propose an interactive method to learn objects directly with the user and the robot and then use the RGB-D model to search for the object in the scene. The robot presents a turntable to the user for rotating the part in front of its camera and obtain a full 3D model. The user is asked to turn the object upside down and the two half-models are merged. The model is then used at predefined search locations for detecting the object on tables or other horizontal surfaces. Experiments in three environments, up to 14 objects and a total of 1080 scenes indicate that present detection methods need to be considerably improved to provide a good service to users. We analyse the results and contribute to the discussion on how to overcome limited image quality and resolution by exploiting the robotic system.