Automatic houseware registration system for informationally-structured environment

摘要

To provide daily-life assistance appropriately by a service robot, the management of houseware's information in a room or a house is an indispensable function. Especially, the information about what and where objects are in the environment are fundamental and critical knowledge. We can track housewares with high reliability by attaching markers such as RFID tags to them, however, markerless housewares management system is still useful since it is easy-to-use and low cost. In this work, we present an object management system using an egocentric vision and a region-based convolutional neural network (R-CNN) to automatically detect and register housewares. The proposed system consists of smart glasses equipped with a wearable camera, a cloud database which manages object information, and a processing server for detecting and registering housewares to the cloud database. We perform two experiments. First, we train the R-CNN on a newly-constructed dataset to detect various housewares and configure a houseware-specific detector. All systems are composed of ROS packages. Second, we conduct experiments for automatic housewares registration using the proposed system. We demonstrate that the proposed system can detect, recognize, and register housewares approximately in real time.