33
25 2 1

+aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

Embed Size (px)

Citation preview

Page 1: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

CL&fspq

+aiHYE;s5N}gKhkye*NK

P9kOsIjs0+O&*;~oN!P

X35w ~; 3' 5x

~TgX)XtpsXJ

B,!5@

?. 25/ 2n 1|

Page 2: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

i

+aiHYE;s5N}gKhkye*NKP9k

OsIjs0+O&*;~oN!P

B,!5@

bF<5

a/$;<dG|JIrxQ7Fj"k?$`GnHrYg9kM9J79

F`,&f5lF$k%3Nh&JYg79F`,nHNfG+3KTolk

0nrp7F>6*K`nG-lP$f<6XNi4O/J/-QG"k%n

HfK+3KTolk0nH7F$yeN*NrhC?jV$?j9kVOs

Ijs0WKm\9k%

f<6,4}dH_)FJINnHrT&]Kj"k?$`GIN*N,h

il?jV+l?j7?+r!PG-lP$f<6N!NnHr=,7FYg

rT&3H,G-k%3N3H+i$*N,hil?3H$V+l?3Hr9

$CAH7F79F`XN~O`nKxQG-lP$+3KTolk0nrp

7?>6*J$s?U'<9NB=,|T5lk%\FGO$Q,G<?Kp

E$FyNeKV+l?F*NKP7FDLKV+l?3H$hil?3Hr

j"k?$`G!P9k3Hr\*H9k%

3Nh&J\*KX"9ke=*J>hj!H7F$+airQ$?j!H

YE;s5rQ$?j!,"k%+airQ$?>hj!GO$+ai+iP

]*NrQ,9k3HGP]*NNLVdOsIjs0N-5r=j9k%M

VO$kP*Jps+i?/Nu7r}rG-k%3Nh&K$+ai+i@

ilkh|KO-+Jps,^^lF*j$}-/xQ5lF$k%7+7$P

]*NKWC,"C?lg$+aiGP]*N,Q,G-J/Jk%=N?a$

P]*N,hil?jV+l?j7?3HO$/J/Hb$WC,*;7?e

K7+!PG-J$%>CF$+aiN_rQ$?j!GOWC~Kj"k?

$`G*N,hil?3H$V+l?3Hr!P9k3H,$qHJk%

YErQ$?>hj!GO$YE;s5ryK_V7$yN7DKb>}~K

++kOrW,9k%*N,hil?jV+l?j9k3HGYE;s5K+

+kYEN}:+iP]*N,hil?jV+l?j7?3Hr=j9k%Y

EOl!5NpsG"k?a$h|HfYFh},FWG"k%7+7$*N

,#t1~Khil?jV+l?j7?lgK$=liK~8?YEN}:,

Page 3: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

ii

g;5lFQ,5lF7^&%=N?a$"ksDNP]*N,1~Khil

?jV+l?j7?]NYEQ=H$>NP]*N,hil?jV+l?j7

?]NYEQ=H,`w7F7^&3H,"k%3Nlg$IN*N,hil

FIN*N,V+l?+rYEN}:N_G=G9k3HO$qHJk%

\FGO$+aiHYE;s5+i@ilkpsr}g7?N(bGkr,

Q9k3HG$+aiK*1kWC$YE;s5K*1k#t1~\0Ndj

KPh9k%+aiGO*NKWC,5$Bj$#tN*N,1~Khil?

jV+l?j7Fb=lirL9K!P9k3H,G-k%YE;s5GO*

N,#t"C?H7Fb$/J/HblDJeN*N,hil?jV+l?j

7?3HOj"k?$`G!PG-k%>CF$3liN;s5+i@il?

psr}g9k3HG$+aidYE;s51NGOq7+C?u7KPhG

-kH|T5lk%^?$N(bGkrxQ9k3HG$?H($WCfK$+

D$#tN*N,hil?jV+l?j7?lgGb$WC*;~K+ai&

Nps+iP]*NNLVrj+Pj9k3H,G-k%

B3GO$+aidYE;s51NGOOsIjs0N+O&*;~oN!

P,$qJu7$ZS$B]NyenHKP7FsFj!r,Q7?%0TN

B3GO$WCfK#tN*N,1~K\07Fb$=lir,1F!PG-

k3HrN'7?%^?$P]*NNLV,djG-F$k3HrN'7?%

B]NyenHKX9kB3H7F$̂ :$Z<Q</iUHrn.9knH

KP7FsFj!r,Q7?%sFj!,B]NnHKP7F*N,hil?

jV+l?j7?3HrINxY57/!PG-kN+rN'7?%3NkL$

*N,V+l?3H$hil?3HKP9kF=(O=l>l 64.3%(9/14s)$

30.0%(3/10s)HJj$,g(O=l>l 34.6%(9/26s)$14.3%(3/21s)H

JC?%^?$o3TK4}nHrTCFbi$$nHNltKP7FsFj!

r,Q7?%3NkL$*N,V+l?3H$hil?3HKP9kF=(O=

l>l 58.3%(7/12s)$56.3%(9/16s)HJj$,g(O=l>l 29.2%(7/24

s)$47.4%(9/19s)HJC?%*NN\0J0K/x7F!P5l?YEQ=

,N'5l?,$=N&AN63.0%(17/27s)r57/~QG-?%*N,hi

l?jV+l?j7?3HN!PN575rhjI/9k?aK$OsIjs

0KhCF/3kYEQ=H=N>NWxKhCF/3kYEQ=Hr,1k

h&J"k4j:`,,WG"k3H,,+C?%

Page 4: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

iii

Detecting Start and End Times of Object-Handlings on

Table By Integrating Camera and Load Information

Ryuta YASUOKA

Abstract

Recently, many systems have been proposed to support human activity in real

time by multimedia guidance such as sound, video, and so on. An intuitive

way of manipulating the systems is to use actions performed naturally in the

activity. Such intuitive manipulations help users do the tasks. As the natural

actions, we focus on putting and taking actions to objects on a working table.

We naturally handle the objects when doing the tasks at the table.

Detecting putting/taking action to each object helps predicting what task

the user intends to do next. Hence, the intuitive interface is realized if the sys-

tem is manipulated throuth these actions. Our goal is to detect putting/taking

action to each object on the table in real time through the observation.

There are two different traditional approaches to detect these actions: by

cameras and by load sensors. The approach by cameras observes the objects to

estimate their positions and to detect putting/taking action to each object. As

humans understand various events from visible infoemation, an image contains

rich information and is used for wide variety of applications. However, cameras

cannot track objects when the objects are occluded. In such case, this approach

cannot detect putting/taking actions until the finish of the occlusion. In this

sense, this approach cannot detect these actions in real time.

The other approach, by load sensors, uses variation of load. The load varia-

tion is caused by putting and taking objects on a table, and is a good evidence

to detect putting/taking actions. It is easy to observe the variation because

load signals are one dimensional. However, this approach cannot differentiate

putting/taking actions when two or more objects are put and/or taken at once.

In such case, the load change in load signals caused by the objects’ displace-

ments are all combined into one variation of load.

We overcome these difficulties of the sensors by integrating them on a statis-

tical model. Cameras can differentiate putting/taking action to each object as

long as they are not occluded, even through two or more objects are displaced

Page 5: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

iv

at once. Load sensors can detect at least that any of objects are displaced, by

focusing on variation of load. This is done in realtime. Hence these two sensors

compensate each other by an integration. Moreover, our statistical model en-

ables to recover objects’ locations by using camera’s information after the finish

of an occlusion. This recovery is necessary when two objects are displaced at

once under the occlusion.

We evaluated our approach by three experiments; one contains the difficult

situations for the use of only the single sensor, and the other two observe real

activities at a working table. In the first experiment, our approach could detect

putting/taking action to each object correctly while the objects were occluded

and two or more objects are displaced at once. Our approach could also estimate

the objects’ locations rightly when the object is occluded.

In the second and third experiment, we applied our approach to two real

activities: paper craft and cooking tasks. As a result of the paper craft task,

for detection of put objects, the recall was 64.3%(9/14 times), and the precision

was 34.6%(9/26). For detection of taken objects, the recall was 30.0%(3/10),

and the precision was 14.3%(3/21). As a result of the cooking task, for detection

of put objects, the recall was 58.3%(7/12), and the precision was 29.2%(7/24).

For detection of taken objects, the recall was 56.3%(9/16), and the precision

was 47.4%(9/19). Load changes caused by disturbance were also successfully

rejected [At a rate of 63.0%(17/27)]. We need to improve the algorithm for

separating these disturbing vibrations of load in the future.

Page 6: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

+aiHYE;s5N}gKhkye*NKP9k

OsIjs0+O&*;~oN!P

\!

h 1O O8aK 1

h 2O X"&f 4

2.1 +airQ$?OsIjs0+O&*;~oN!P . . . . . . . . . 4

2.2 YE;s5rQ$?OsIjs0+O&*;~oN!P . . . . . 6

h 3O +aiHYE;s5N}gKhkOsIjs0+O&*;~oN

!P 8

3.1 djNj0= . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.2 +aiHYE;s5r}g7?N(W;bGk . . . . . . . . . . . . 10

3.3 *NNi|P?nH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.4 +ai&NW;bGk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.5 YE&NW;bGk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.5.1 F$YsH,/-kN(NW; . . . . . . . . . . . . . . . . . 13

3.5.2 $YsH4HN*NNuVN(NW; . . . . . . . . . . . . 14

h 4O B3&M! 17

4.1 Q,D-HO<I&'" . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4.2 YE;s5\<INC->A . . . . . . . . . . . . . . . . . . . . . . . . . 18

4.2.1 YE;s5:YN4: . . . . . . . . . . . . . . . . . . . . . . . . 18

4.2.2 YEN~V*Q=N4: . . . . . . . . . . . . . . . . . . . . . . 19

4.3 }gbGkN>A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

4.3.1 }gbGkN-z->A (B3A) . . . . . . . . . . . . . . . . 20

4.3.2 H_)FnHXN}gbGkN,Q (B3B) . . . . . . . . 21

4.3.3 4}nHXNsFbGkN,QJB3CK . . . . . . . . . 22

h 5O *ojK 24

U- 26

2M8% 26

Page 7: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

h1O O8aK

a/$$72NVDS*A}JSWJIrOaH7?$f<6NnHrYg7

F/lk"Wj1<7gs,TN5lF$k%#(JnHb$=Nh&JYg

"Wj1<7gs,B]NnHNJTu7K~8F,ZJSG*,$@s9d

;<,$@s9rs(9k3HG$o+jd9/A(k3H,G-k%7+7$

{8NYg"Wj1<7gsO-<\<Id^&9$;<JI$B]NnHH

X8NJ$>,J0nKhk~Or,WH9k%3Nh&J"Wj1<7gs

Of<6XNi4,g-/BQ*HO@$q$%3lKP7F$B]NnH=

NbNH7FTolk0nrp7F>6*KxQG-k$s?U'<9G"l

P$f<6XNi4O/J/-QG"k%

3Nh&J$s?U'<9r}D"Wj1<7gsNlDK$*N,hil

?~K$=N*NrxQ9knHKX9kpsrs(7$=N*N,V+l?

i!NnHKX9kpsrs(9kYg79F`,M(ilk%c(P;qr

hC?jV$?j9k3HO$59nHNfG+3KTolk0nG"k%;q

,hil?3H$V+l?3Hr~OH7FxQ9k3HG$>h79F`N

h&J>,J0nKhk~OJ7K,$@s9ru1hlk%3lKhj$f<

6OB]NnHKW,7J,inHNYgru1k3H,Phk%

^?$c(PDS*A}JSGO$"Wj1<7gsKhCFs(5l?nH

jgK/)*K>&3H,f<6Kaailk%7+7J,i$f<6,nH

jgr,+CF$klgOf<6+H,djW$jgGT&},f<6KHC

F9Hl9HJiJ$%?rhC?+KpE$FB]Kf<6,T*&H7F

$knHr=,G-lP$Yg"Wj1<7gsOf<6,T$?$nHKX

9kpsrs(9k3H,G-k%f<6O+HNnHKgo;Fpsru1

Hlk?a$"Wj1<7gs+inHjgr/)5lk3HJ/nHrT&

3H,G-k%

3Nh&JYg"Wj1<7gsO$c(P$4}dH_)FnHNlG-

QG"k%4}fNYgH7FO$nHNJTu7K~8?l7TNs(,M

(ilk%)vHr/O)\KFA7$r/Ns|&]}&}JKO|"+i

I\rM87?)vr]h9k,W,"k%3N?a$r/V~Nl7T,?

/PG5lF$k%7+7$r/N?aK)8hN~1r\X7F$klgK

O$=l^GN)8hGOnC?3HNJ$l7TrxQ9k3H,?/Jk

1

Page 8: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

H=[5lk%T7lJl7Tr4}9k3HOf<6KHCFg-Ji4H

Jk%=3G$4}fK4}oqd)`,hil?3H$V+l?3Hr'1

7$=lKgo;FG#9Wl$Kl7Trbr=(9kh&J4}Yg"W

j1<7gs,M(ilk%f<6,4}oqd)`rhk0nr=N0nN

>eK!PG-lP$f<6,!KINh&JnHrT&+r=,7$=Nn

HKD$FNpsrs(9k3H,G-k%^?$f<6,jK}CF$?4

}oqd)`rV$?lg$=_TCF$?nH,*oC?HM(ilk%4

}oqd)`rV/0nr=N0nN>eK'1G-lP$=_TCF$kn

H,*;7?H=G7$!NnHKX9kpsrd&G-k%3Nh&Jj"

k?$`Nl7TrbKhCF4}N:TO:j$^?$4}TO>,J0n

,,WJ$NG4}N_K8fPhk%

H_)FnHNlGb1MK$*N,hil?3Hr!P7FnHbFr=

[9k3HG!NnHKX9kpsrs(7$^?$*N,V+l?3Hr!

P7FnHN*ojr=G9k3HG!NnH)xrs(9kYg"Wj1<

7gs,M(ilk%c(P)lGN;k8:GO$$s?<MCHrL8?

m8bFK~8F$=JNlDlDKP7F[JktJr*r7FH_)Fk

3H,aailk%3Nh&JnHGO$^Ke"kr2H7J,iVc&3

HJ/=JrH_)Fk,W,"k%=N?a$H_)F^Ke"kr2H9

k]KG8?kN^Ke"kGO/jC/$f^NN^Ke"kGOZ<8r

a/kJIH$C?H_)FnHHX8NJ$0nr7J1lPJiJ$%[

j9kYg"Wj1<7gsGO$nHH5X8J3Nh&J0n,J/Jk

?a$f<6OH_)FnH+NK8f9kv,G-k%

*N,jKhilF$=Ne$V+lk^GNl"N0nrV*NNOsI

js0WHFV%OsIjs05l?*NN'1$^?$OsIjs0+ON

?$_s0,!PG-lP$f<6,!KT&nHr=,7F=NnHKX9

kpsrs(9k3H,G-k%1MK$OsIjs0*;N?$_s0,!

PG-lP$nHN*;r=j7F!NnHbFrd&9k3H,G-k%e

-Nh&JYg"Wj1<7gsrB=9kKO$j"k?$`GN*N'1

H*NNOsIjs0+O&*;N!PN>},;Q*]jHJk%^?$n

HT,!NnHK\k^GK$*NNOsIjs0r!P9kj"k?$`-

,,WHJk%J_$F*NKP9kOsIjs0N+O&*;7?3Hr!

P9k3HrVOsIjs0NjPWHFV%

2

Page 9: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

sDN;Q*]jN&A$*N'1O"Wj1<7gsKhCFP]H9k

*N,[Jj$M9Jj!,&f5lF$k%c(P4}NlgrM(kH$'

1NP]HJk*NO)`d4}oq,s2ilk%)`'1KX7FO$f

ei [1]KhCF&f5lF$k%

b&l}N;Q*]jG"k*NNOsIjs0jPKX"9k&fO"^

jJsG$J$%0RN"Wj1<7gsK*$F$OsIjs0NjPO*

N'1hjb0KTolkh}G"j$"Wj1<7gsNB=N?aK,W

TDgJ0h}G"k%=3G\FGO$sDN;Q*]jN&A$*NNO

sIjs0jPNB=r\X9%

*NNOsIjs0jPrB=9keG$P]*N,#tNlgKO*N,

V+l?3H$hil?3Hr!P9k@1GOT=,G"j$5iK$V+

l?*N,hil?*NN&AIlG"C?+rCj9k,W,"k%D^j$

1K*N,hil?jV+l?j7?3H@1GJ/$*NN1l-b=j7

J1lPJiJ$%^?$\FG[j7F$kYg79F`GO$*N,hi

l?jV+l?j7?>eK=liN0nr!P7Fpsrs(9k%=N?

a$OsIjs0N+O&*;rj"k?$`GjP7J1lPJiJ$%

*NKP9kOsIjs0NjPKX9kX"&fKO$gK+airQ$

?j!HYE;s5rQ$?j!,"k%+airQ$?j!GO$6\iN

QCA?XJbGkrQ$?j! [2],"k$^?$jHP]*Nr*NIWN

j! [3][4][5][6]rQ$FIW7$=li,18h&J0-r7F$lPOsI

js05lF$k$H$C?}!G*NNOsIjs0rjP9k3HbM(

ilk%7+7$+airQ$?j!GO$P]*NKWC,"C?lgKP

]*N,Q,G-J/Jk?a$P]*NNIW,$qHJk%3Nh&J}

3+i$+airQ$?j!GOWC~Kj"k?$`G*NNOsIjs0

N+O&*;r!P9k3HOq7$%

^?$YErQ$?j!H7FSchmidtiNYE;s5rQ$?j! [7],s

2ilk%SchmidtiNj!GO*NKP9kOsIjs0N+O&*;rY

EN}:Khj!P9k%3N}!rQ$kH$*N,lDG"lP$WC,

"CFbj"k?$`G*NNOsIjs0rjPG-k%7+7$3Nj!

GO#tN*N,1~KV+l?jhil?j7?lg$=liK~8?YE

N}:,g;5lFQ,5lF7^&%=N?a$"ksDNP]*N,1~

KV+l?jhil?j7?]NYEQ=H$>NP]*N,OsIjs05

3

Page 10: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

l?]NYEQ=H,`w7F7^&%3Nlg$IN*N,V+lFIN*

N,hil?+rYEN}:N_G=G9k3HOq7$%

\FGO$+aiHYE;s5N>}rQ$FP]*Nr*si$sGIW

7$>}NQ,Mr}g7FP]*NNuVrdj9k3HG$P]*NNO

sIjs0rjP9k%+aiHYE;s5rH_go;k3HG$P]*N

KWC,"C?lgGbYENQ=+ij"k?$`GOsIjs0N+O&

*;r!P9k%^?$h|HYEN>}rQ$k3HG1l-=j:YN~

er^k%

\FOJ<Nh&K=.5lk%^:$h2OGOX"&fKD$FRY$\

&fNLVU1r@i+K9k%!K$h3OGOdjrj0=7$=Ndj

rrh9k?aNsFj!N\YrRYk%3$F$h4OGOB3N\Yr

RY$B3KP9k>ArT&3HGsFj!N-z-r(9%GeK$h5

OG\FN^HaH#eN&f]jKD$FRYk%

h2O X"&f

3NOGO$\FN\*G"k*NNOsIjs0jPKX"9k>hj!

rRp9k%*NNOsIjs0jPKX"7?&fO$/D+8_9k%=

liOg-/,1F$+airQ$?j!H$YE;s5rQ$?j!NsD

K,`5lk%2.1aGO+airQ$?OsIjs0jPNX"j!$2.2a

GOYE;s5rQ$?OsIjs0jPNX"j!KD$FRYk%̂ ?$j

"k?$`G*NNOsIjs0+O&*;r!P9kH$&\FN\*rM

87?lgN$>hj!HNhj7&djNjcd$>hj!rOsIjs0

jPK~Q9klgNdj@KD$Fb@Z7$\F,7&XQ*]jr@i

+K9k%

2.1 +airQ$?OsIjs0+O&*;~oN!P

+airQ$?*NNOsIjs0jPKX"7?&fH7F$6\iNj

! [2],"k%6\iO!PP]*NNh|C'KMiJ$$*N,V+l?$

hil?3HN!Pr\*H7?VQCA?XJbGkWrsF7?%XJ9

,OXJh|NN1rpK7F*Nr!P9k%3N?a$!PP]*NNh

|C'rv0KX,9k3HJ/P]*Nr!P9k3H,G-kH$&x@

4

Page 11: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

,"k%l}G$LoNXJ9,j!GO$!PP]*N,$LN!PP]*N

KEMFV+l?lgK$=lirhL7F!P9k3HOq7$%VQCA?

XJbGkWGOV+l?*NNNhh|rQCAH7FXJKhj~`%V

+l?*Nr=lJ_XJH7F7&3HG$*N,EJCFV+l?j7?

lgGbhL7F!P9k3H,D=G"k%

6\iNj!r\&fK,Q7?lg$*NNOsIjs0,#t1~K*

;7F$#tN*N,1~KyKV+l?H7Fb$=li,EJC?jYj

gCFV+l?j5(7F$J1lP$hL7F!P9k3H,G-k%7+

7$3Nj!GOM*NhJIKhCF*NKWC,"C?lgKO$WC,

5/Jk^G*NNOsIjs0N+O&*;O'1G-J$%^?$3Nj

!GO*NN1l-=jOTCF$J$%=N?a$\FG,WH5lF$k

*NN1l-=jO3Nj!@1GOT&3H,PhJ$%

3N*NN1l-=jO*NIWKhjD=G"k%OsIjs0KhkW

C,"CFbIWD=J*NIWj!H7F$SupporterrxQ7?Grabneri

Nj! [6],"k%OsIjs0Khj\09k*NO$\0fKjGWC5l

k%5iK$=N\0OMNUWGTolk?a$?0bGkGN=,,q7

$%3N?a$OsIjs0Khj\09k*NrIW9k3HO$qG"k%

GrabneriOIWP]*N=NbN@1GJ/$SupporterHFPlk$IWP

]*NH&K0/~ONC'@r*si$sGX,9k3HKhj3NdjN

rhr^C?%#sNdjK,Q7?lg$*NOOsIjs05lF\09

k?a$~ONC'@OjNh+i@ilk%SupporterNLVKpE$FP

]*NLVrj<9k3HG$P]*N=NbN,WC5l?lgGbhrK

P]*NrIWG-k%

7+7$M*N+JWCJIKhCFSupporterHJCF$kC'@,#l

F7^&lg$P]*NNIWO$qKJCF7^&%5iK$GrabneriN

j!GO Supporterr*si$sGX,&977F$/%=N]$P]*N,

.5/OsIjs0+O~+ijKhCF04KWC5lF$kH$=b=b

Supporterr*si$sGX,9k3H,$qKJk%^?$3Nj!GO*

NN1l-=j,T(kN_G$P]*N,hil?VVdV+l?VVN!

POTCF$J$%

5

Page 12: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

2.2 YE;s5rQ$?OsIjs0+O&*;~oN!P

+aiGO\A*K$*NHM,\(7?lgH$BjJ/aE$?@1N

lgHNhL,q7$H$&dj,"k%3lKP7F$SchmidtiNj! [7]

Ke=5lkYEKpE$?j!GO$YE;s5r_V7?!PfrxQ7

F$*NH!PfHN\(Khj88?ON}:rYEKhj>\Q,9k%L

o$*NOM,OsIjs07J$Bj!jK0/3HOJ$%~O+i60

,"C?lgr|/H*N,hil?jV+l?j7?lgN_YEQ=,/

3k%hCF$*N,1lNlgOYE,:/9lPOsIjs0,+O7?$

^?$YE,}C9lPOsIjs0,*;7?H=j9k3H,G-k%

SchmidtiOYE;s5rQ$F$*NOlD7+1~K\07J$H$&

>jNbH$feG*N,V+l?3H$hil?3H$"k$O]l?3H

r!P9k3Hr\*H7?&frTC?%=N]$SchmidtiNj!GOP

]*NHM*HN\(G=j9keojK$fNMyKYE;s5r_V7F

YEN}:G*N,hil?jV+l?j7?3Hr=j7?%YEN}:r

Q$k3HG$*N,V+l?N+$hil?N+$"k$O]lkJIy+

i%l:K0$?N+rhrK=j9k3H,G-k%^?$3Nj!GO*

NH7DHN\(rYEN}:KhCF=G9kNG$*N,1lG"lPW

CN-5KX8J/j"k?$`G*NNOsIjs0N+O&*;r!P9

k3H,G-k%

*NNLVOMyK++kYENfrxQ7Faak%MyNYE;s5N

<m@ (*U;CH)r F offk (k = 1, . . . , 4)H7$*N,V+l?jhil?j

7?eKYE;s5K++CF$kYEr FkH9k%^?$F̃k = Fk −F offk H

7$FΣ =∑

k F̃kH9k%P]*NNLV (x, y) O$YENfrxQ7?J<N

0 (1),0 (2)KhCFW;G-k%?@7$xmaxO!PfN#}$ymaxO!P

fND}H9k%^ 1KYE;s5N^r(9%

x = xmax

F̃2 + F̃4

(1)

y = ymax

F̃3 + F̃4

(2)

^?$feG?+,/-?+I&+N=jO$YEN60Km\7FT&%"

37?YEG<? qlenDN8`P9 σqrW;7$σq,gM δbeforer6(lPf

K60,/3C?H=j7$feG?+,/3C?H9k%=Ne$σq,gM

6

Page 13: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

����

���� ����

����

F1 ( 0 , 0 ) F2 ( 0 , xmax )

F3 (0 , ymax) F4 (xmax , ymax)

F∑ ( x , y )

^ 1: YE;s5N^

δafter$~KJlP$=N60,}^C?H=j7$60N0eNYENQ=+

i?,/3C?N+rW;9k%^?$60,}^C?eNYEG<?+i0

(1),0 (2)KhjE4LVrW;7$*NNLVrdj9k%

?@7YErQ$?j!GO$"k*N,V+l?jhil?j9k3HG

60,/87$=N60,}^k^GK!N*N,V+l?jhil?j7?

lg$=liO1~r,%7F!P9k3H,G-J$%J_$0Khil?

jV+l?j7?*NN60,}+9k0K!N*N,hil?jV+l?j

7?3HrV*N,1~K\07?WHFV%#tN*N,1~K\07?l

g$=liK~8?YEN}:,g;5lFQ,5lF7^&%=N?a$Y

EQ=+iV+l?*Ndhil?*NrCj9k3H,$qKJk%

Jehj$+airQ$?>hj!GO$;s5N-AH7F$P]*NK

WC,"C?lgKj"k?$`GOsIjs0N+O&*;r!P9k3H

,$qG"k%l}G$YE;s5rQ$?>hj!GO$*NNE5,{N

G"CFb$1~K#tN*N,\07?lg$=liNOsIjs0r,1

FjP9k3H,$qG"k%

\&fGO$+aiHYE;s5r,ZKH_go;k3HKhj$3li

Ndj@Nrhr^k%+airQ$F*Nrf+i%lF$kVbIW9k

3HG$YE;s51HhjhrKDNNhL,G-k%^?$YE;s5r

Q$k3HG$*NKWC,"C?lgGb?i+NQ=,"C?3Hrj"

7

Page 14: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

k?$`G!P9k3H,G-k%\FGO$3liNx@rh+7?$+a

iHYE;s5r}g7?OsIjs0djbGkrsF7$j"k?$`G

#t*N1~NOsIjs0N+O&*;r!P9k%

h3O +aiHYE;s5N}gKhkOsIjs

0+O&*;~oN!P

+airQ$?j!GO$WCfK*NNOsIjs0rj"k?$`Gj

PG-J$3H,$YE;s5rQ$?>hj!GO#t1~K*N,\07

?lgKPhG-J$3H,dj@H7Fs2il?%l}G$=l>lNj

!N9jb8_9k%+airQ$?j!GO$P]*NKWC,51lP*

N,#tGb=l>lN*NNLVrdj9k3H,G-k%^?$YE;s

5rQ$?j!GO$*N,#t"CFbYEQ=Km\9k3HGWCKX

8J/j"k?$`K$/J/HblDJeN*N,hil?jV+l?j7

?3HO!PG-k%

3liNdj@d9jr'^(F$\&fGO+aiHYE;s5+i@i

lkpsr}g9k%+ai$YE;s5N=l>lNj!GOsIjs0j

P,TD=Ju7K$3li 2Dr}g9k3HKhCFPh9k%5iK$N

(*JbGkKhj}g9k3HG$*NLVKX9k>brN()Y^CW

H7F]}9k3H,G-kh&KJk%>br]}9k3HG$WCfKY

E;s5@1GO*NLVNCj,$qJlgb$eG+ai&Nps,@i

l?H-Kj+PjG-kh&K9k%

3.1aGdjrj0=9k3HKhj$\FGhj7&djrqN=9k%3.2

aGO+aiHYE;s5r}g7?N(bGkN5WKD$FRYk%3.3a

GOIWP]*NNi|P?nHKD$F$3.4aG+ai&NW;bGkN\

Y$3.5aGYE;s5&NW;bGkN\YrRYk%

3.1 djNj0=

*NNOsIjs0 ηr$J<NMKjA9k%

η = {o, toT , toP} (3)

33G$oO*NNDNiYk$toT O*N o,hil?~o (OsIjs0N

8

Page 15: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

(0,ymax)

htm = true

(0,xmax)

(0,xmax)

(0,ymax)

(0 , 0)

(0 , 0)

htm = false

^ 2: Xmt NuVuV^

+O~o)$toP O*N o,V+l?~o (OsIjs0N*;~o)G"k%

Q,G<?fK*N,#t"ku7GOsIjs0 ηrjP9k?aKO$

hil?jV+l?j7?*N,P]*NN&AIlG"k+H$C?1l-

=jdj,88k%=3G\&fGO$*NIWKhCFP]*N,hilF

$k+V+lF$k+KC(FP]*NNLVbdj9k3HG$DNiYk

oNhLrT&%

~o tKD$FO+aiNUl<`l<HKgo;k$"k$O$YE;s

5N5sWjs0l<HKgo;k3H,M(ilk%\&fNQ,D-K*

1k+aiNUl<`l<HOs 15fpsG"k%3NUl<`l<HO\&f

,[j9k"Wj1<7gsKaailkj"k?$`-KYcOJ$HM(

?%>CF$#sOYEN5sWkGOJ/+aiNUl<`Vfr~o tH

ja?%

~o tGNQ,G<?fKM DN*N o1, . . . , om, . . . , oM ,8_9kH-$

*NNuVrXt = {X1

t , ..., Xmt , ..., XM

t }H9k%Xmt O*N omNuVr=9

QtG$*N om,OsIjs05lF$k+]+r=9 hmt = {true, false}

H$*N om NLVr=9 lmt = (x, y)+iJkJ^ 2K%3lirQ$kH$

Xmt = {hm

t , lmt }H=5lk%?@7$hm

t = trueO*N om,jK}?lF$k

3Hr$hmt = falseO*N om,V+lF$k3Hr$=l>l=9%

~o 0+i~o t^GNVK@il?Q,M+i=_NuVXtrdj9k%

D^j$~o tK*1kQ,MrZt$~o 0+i t^GNQ,MrZ0:tH7F$

F*N omKP7FN( P (Xmt |Z0:t)raak%P (Xm

t |Z0:t),a^lP$hmt N

Zj+oC?~o+i$=N*NNOsIjs0N+O&*;N~o tom

T $tom

P

9

Page 16: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

,W;G-k%3liO$gM δhrxQ7?sM=h}rHCF$0 (4),(5)N

h&Kj0=5lk%

P (hmt−1

) < δh ∧ P (hmt ) ≥ δh ⇒ tmT = t (4)

P (hmt−1

) ≥ δh ∧ P (hmt ) < δh ⇒ tmP = t (5)

3Nh&K$F*NKP7FF~oGN(P (Xmt |Z0:t)raak3HKhj$

*NNOsIjs0rj"k?$`GjP9kh&Kdjrj0=7?%

\FGOh|HYErH_go;k&fNGiNJ,H7F$IWP]*N

KP7F$/D+N)sror_1k%^:$lYK/3k*NNOsIjs

0N+O&*;OsD^GH$&)sr_1k%\FGO$MV,nH9k~

K=NnHrYg9k79F`r[j7F$k%nHrT&?/Nlg$MV

NjOs\G"k?alYK}C?jV$?j9k*NOsD^GG"kHM

(ilk%>CF3N>jO$B]NnHK*$F5}NJ$)sH$(k%

^?$B]NyenHK*$FOnHKhCFC)5lk*NO+(dE5

NC',Q=9k%5iK$ZGnHKhCF*NNDtbQ=9k%7+7

\&fGO$*N,WC5l?]d#t1~K\09k]K88kdjr$+

airYE;s5N>}+i@il?psr}g9k3HGPh9k3HKg

cKV$F$k%3N?a$P]*NNDt$ZS$+(dE5NC'LNQ

=XNPhO#eN&f]jH7$P]*NNDtd=NC'LOQ=7J$

bNH9k%

3.2 +aiHYE;s5r}g7?N(W;bGk

3.1aGRY?N( P (Xmt |Z0:t)rW;9k?aK$+aiHYE;s5r}

g7?$OsIjs0rN(*Kdj9kbGkrsF9k%

N( P (Xmt |Z0:t)O>0NuVXt−1KhCF~U=7$+D$l!^k3U

-r>j9k3HG!0Nh&KQA9k3H,G-k%

P (Xmt |Z0:t) =

P (Xmt |Zt,Xt−1)P (Xt−1|Z0:t−1)dXt−1 (6)

P (Xt−1|Z0:t−1)O>0N~o t− 1GNh}kLG"kNG$>0Nh}GW;

Q_G"k%hCF$i|uVP (Xm0)HN( P (Xm

t |Zt,Xt−1)raak3H,

G-lP$N( P (Xmt |Z0:t)rW;9k3H,G-k% i|uV P (Xm

0)O 3.3

10

Page 17: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

aG\YrRYki|P?nHKhj@ilk%N(P (Xmt |Zt,Xt−1)OJ<N

MKW;9k%

sFj!GO+aiHYE;s5rQ$F*NrQ,7F$k?a$Q,M

ZtOh|ZIt HYE ZW

t HK,1k3H,G-k%=3G$ZIt HZW

t O_$K

H)G"kH>j7FP (Xmt |Zt,Xt−1)NW;rT&%D^j$

P (Xmt |Zt,Xt−1) = P (Xm

t |ZIt ,Xt−1)P (Xm

t |ZWt ,Xt−1) (7)

H7$+ai&GNW;P (Xmt |ZI

t ,Xt−1)HYE;s5&GNW;P (Xmt |Z

Wt ,Xt−1)

K,%7FM(k%

sFj!GOF*NKP7F$+ai&NW;bGk+iO*NN8_N(

^CW P (lmt )rPO7$YE;s5&NW;bGk+iO*NN8_N(^C

WP (lmt )HOsIjs0N-5NN( P (hmt )rPO9k%=l>lNW;bG

k+i@il?POr0 (7)Khj}g9k%=Ne$N( P (Xmt |Zt,Xt−1)+

i0 (4)$0 (5)KpE$F*NNOsIjs0 ηrjP9k%

3.3 *NNi|P?nH

\&fGOP]*NNtO{NG"j$^?$3liN*NN+(dE5N

C'LOTQG"kH$&)sr_1F$k%3N)sNbHGO$GiKQ

,7?C'LrQ,f:CHxQ731lPh$%>CFsFj!GO$Gi

KIWP]*NNC'LrP?9k%

qN*JP?}!H7FO$IWP]*NrlD:DYE;s5eKV/3H

rT&%=N]$+aiHYE;s5rQ$F*NomNC'L fm = {wm, sm}

rP?9k%wmO*NNE5r=9C'$smO*NNheG!P5l?C'@

N8gG"j$C'@NtO*NKhCF[Jk%YE;s5NN$:rM87

F$wmO?Q µm$8`P9 σmN5,,[NQia?H7?%smOGrabner

iNj!r2MK7?W;r0sK_W7F*j$smK^^lkFC'@OC

'LH*NNE4LV^GNjPB8r]}7F$k%smNFC'@,]}9

kC'LH*NNE4LV^GNjPB8O$3.4aG\YrRYk+ai&N

W;bGkGNC'@NP~U1HP]*NNLVj<KxQ9k%

^?$3Ni|P?nH,*;7?~or 0H7$~o 0GNF*NNi|

uV P (Xm0)rW;9k%P?~O*NO,:V+lk?a h0

mKD$FO$

P (hm0= true) = 0 (8)

11

Page 18: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

P (hm0= false) = 1 (9)

H9k%^?$*NNE4LVrxQ9kH+aiHYE;s5=l>lKh

k*NLVdjkLN0g-,Hlk%>CF$*NN8_N(^CWP (lm0)

O+ai&$YE&NW;bGk&K$3.5aGRYkYE;s5NE4LVr

Q$?+<Mk)YdjKhCF@ilk8_N(^CWH9k%4FNP]

*NNP?nHr*(kH$P?7?P]*NNIWr+O9k%

3.4 +ai&NW;bGk

P (lmt |ZIt ,Xt−1)NW;OGrabneriNj! [6]r2MK7?%FP]*NNC

'@ smH=NE4^GNjPLVX8r 3.3aGRY?P]*NNi|P?~

KaaF*-$3lr*NbGkH7FJ_NUl<`GQ$?%+ai&N

W;bGkGO$J<Nh}rF*NbGkhKT&%

~o tK*1k+aiNQ,h| ZIt +ijP5l?C'@N8gr f tH9

k%DN omN$UNC'@ ∀s ∈ smKP7F$C'LNjX,gMJeHJ

k f tNWGN&A$GbjX,b$bNrP~U1k%sHP~U1il?h

|ZIt fNC'@r f H9k%3NH- f NB8K$i|P?nHG@? s+i

omNE4XNjPB8rC(?LVKP7F$,&9+<MkrQ$?j<h

}rT&%jX,gMr6(kh&J f tNWG,8_7J$$D^jP~U/

C'@,h|ZIt NfK8_7J$H=G5l?smNWGO$WCJIKhj

LV,T@KJCF$kHM(ilk%3NlgKOCjNB8XNj<OT

o:$8_N(^CWKlMJ,[rC(k%GeK 1/|sm|GdCF5,=r

T&%

\&fGO$P]*NOfeKV+lF$k+jKD}5lF$k+N$:

l+G"kNG$6\iNQCA?XJbGk [2]rpK$C'@NjPP]

OOrD}fN*Nr^`M*NhHyeKV+l?*NNhN_KBj7?%

J*$C'LKO91<kds>KTQJC'LG"kSIFTC' [8]rQ$?%

^?$C'!PoH7FOGrabneriNj!KoCFHarris!Po [9]rQ$?%

3.5 YE&NW;bGk

YE;s5&NW;bGkP (Xmt |ZW

t ,Xt−1)N\YrRYk%SchmidtiNj

! [7]rZfH7$=lr#tN*N,1~Khil?jV+l?j7FbP~

12

Page 19: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

G-kh&KH%9k%sFj!GO$"khVK?/HbsDN*N,hil

?jV+l?j7?3HrRH^HaN$YsHH7FM($P (Xmt |ZW

t ,Xt−1)

r$YsHKm\7FW;9k%

*NNDNiYk$ZS$=N*N,hil?+V+l?+$"k$O?b5

lF$J$+NuVrM87?H_go;r$YsHe = {e1, . . . , em, . . . , eM}

H9k%emO*N omKP9kOsIjs0uVNQ=r=7${−1, 0, 1}NM

rHk%?@7$1OV+l?3H$-1Ohil?3H$0OuV,QoCF$

J$3Hr=9%

$YsH e4NN8grEH9kH-$W;bGk P (Xmt |ZW

t ,Xt−1)O$e

Khk~U=rQ$F!0Nh&KQAG-k%

P (Xmt |ZW

t ,Xt−1) =∑

e∈E

P (Xmt |ZW

t ,Xt−1, e)P (e|ZWt ,Xt−1) (10)

0 (10) rQ$F$F*NNuVKP9kN( P (Xmt |ZW

t ,Xt−1) rW;9k%

P (e|ZWt ,Xt−1)O$YsH e,/3kN($P (Xm

t |ZWt ,Xt−1, e)O$YsH e

4HNF*NNuVKP9kN(r=l>l=9%

J*$lYK/3kOsIjs0N+O&*;OsD^GH$&)sro,

"k?a$uVQ= e (∈ e) 6= 0HJk*NNDtOsD^GH9k%/3j@

k4FN$YsH eN8gEO$e 6= 0HJk*NNDt,sDG"k$Ys

HN8gE2 (⊂ E)$lDG"k$YsHN8gE1 (⊂ E)r4Fss7$5i

K4FNuVQ= e, 0G"k$YsHrC(k3HGaailk%^?$$

YsHN/8O$2.2aGRY?YEN60+i=j9k}!G!P9k%

3.5.1 F$YsH,/-kN(NW;

0 (10)N&A$YsH e,/3kN( P (e|ZWt ,Xt−1)rW;9k%=N]$

V+l?+hil?+N=jKD$FO>0NuVXt−1rQ$k3HG=j:

Y,e,kHM(ilk%7+7$Xt−1rINh&KbGkKH_~`+O+

@GOJ$%>CF$#sOW;NJ1=N?aXt−1rQ$:P (e|ZWt ,Xt−1)

NW;rTC?%3NW;}!GO hmt O hm

t−1HH)G"j$Q,M ZW

t N_

KM89k%3Nlg$P (e|ZWt ,Xt−1)O!0Nh&KQA5lk%

P (e|ZWt ,Xt−1) = P (e|ZW

t ) (11)

F$YsH e ∈ E,/-kN(P (e|ZWt )O$e,/3C?]K[j5lkY

EQ=∆e

W HQ,5l?YEQ=∆tW rQ$FW;9k%J*$∆t

W OYE;

13

Page 20: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

s5NQ,MZWt rQ$FW;9k%YE;s5NN$:rM87?lg$*

N omNE5O5,,[N (µm, σm)K>&%5,,[K>&N(QtNBb^

?5,,[K>&?a$∆e

W OuVQ= e (∈ e)rM87?4P]*NNE5N

B+i@ilk,[NN(QtHJk%3N3H+i$N(Qt∆e

W r8.9

k3N,[rN (µe, σe)H9kH$3N5,,[N?Q µe,8`P9 σeO=l

>l$$YsH eGN*N omNuVQ= em = {1, 0,−1}rQ$F!0Khj

@ilk%

µe =M∑

m=1

emµm , σe =

M∑

m=1

|em|(σm)2 (12)

Q,5l?YEQ= ∆tW r N (µe, σe)KvFOaF@ilkN(r P (∆e

W =

∆tW )H9k%3NH-$$YsH e,/3C?N( P (e|ZW

t )O!0GW;5

lk%

P (e|ZWt ) =

P (∆e

W = ∆tW )

ΣZ

(13)

33G$ΣZ O5,=`G"j$∑

e′∈E P (∆e′

W = ∆tW )G"k%

3.5.2 $YsH4HN*NNuVN(NW;

!K$F$YsH,v0psH7F?(il?lgN*NomKP9kuVN

N( P (Xmt |ZW

t ,Xt−1, e)rW;9k%P (Xmt |ZW

t ,Xt−1, e)NW;}!r$=N

$YsHGN*N omNuVQ= emKhCF,1k%

em = 0Nlg$=N$YsHGO*N omKX7F?b/-F$J$?a$

P (Xmt ) = P (Xm

t−1)H9k%em = −1H$&uVQ=,/3C?lg$omO}

?l?HM(ilk?a$OsIjs0NN( P (hmt )OP (hm

t = false) = 1H

9k%*N,}?lF$klg$*NHfHO\(7F$J$?aKYE;s

5GO*NLVOdjG-J$%>CF$*NN8_N(^CWP (lmt )O$l

M,[H9k%

em = 1H$&uVQ=,/3C?lg$=N$YsHG*N omOV+l?

H=j7F$k%>CF$OsIjs0NN( P (hmt )O P (hm

t = true) = 1H

9k%*N omN8_N(^CWP (lmt )KD$FO$=N$YsHe,E1HE2

NIAiK09k+KhCFW;}!r,1k%=l>l$J<Nh&KW;

9k%

e ∈ E1Nlg

$YsH eGV+l?$^?Ohil?H5lk*N,lDG"lP$=N

*NLVOV+l?lgbhil?lgb0 (1),(2)GW;5lkE4LVKJ

14

Page 21: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

k%>CF$0NuVXt−1HH)G"kH7Fb:Yh/LVraak3H,

G-k (0 (14))%

P (Xmt |ZW

t ,Xt−1, e ∈ E1) = P (Xmt |ZW

t , e ∈ E1) (14)

7+7$E4LVraak0 (1),(2)KOC;&|;N>},^^lk%F;s

5NN$:,[+i8.5lkptr=l>l nk(k = 1, . . . , 4)H7$F̃kN?

Mr F̂k(k = 1, . . . , 4)H9kH F̃k = F̂k+nkH=5lk%3lr$E4N xB8

raak0 (1)Ke~9kH$!0Nh&KQA5lk%?@7$F̂Σ =∑

k F̂k$

nΣ =∑

k nkH9k%

x = xmax

F̂2 + F̂4 + n2 + n4

F̂Σ + nΣ

(15)

0 (15)K+ilkh&K$3NW;0Opt nkN`,C;H|;N>}r

^`%3N?a$F;s5NN$:bGkr5K xKP9kN$:,[rrO

*K;P9k3H,q7$%=3G$YE;s5N5sWjs0l<H,+a

iNUl<`l<HHfYFb$3HrxQ7F$+<Mk)YdjKhj e

K^^lk*N omN8_N(^CW P (lmt |ZWt ,Xt−1, e ∈ E1)r@k%qN*

KO$0 (1)$0 (2)Khj@ilk~o tN>0 qlen5sWkNE4LVrx

Q7?%J*$+<MkKO,&9+<MkrQ$?%

e ∈ E2Nlg

$YsH eGV+l?$^?Ohil?H5lk*N,sDNlg$YE;

s5NQ,G<?ZWt N_+i=l>lN*NLVr>\dj9k3HOq7

$%=3G$~OsY$:U#k? [5]NM(rxQ7$>0NuVXt−1r5

K P (Xmt |ZW

t ,Xt−1, e ∈ E2)rW;9k%

$YsHe ∈ E2GV+l?$"k$Ohil?H5lksDN*NroA, oBH

7$=liN*NNuVrXABt = {XA

t , XBt }H9k%N(P (XAB

t |ZWt ,Xt−1, e)

O$~OsY$:U#k?NM(rQ$kH!0Nh&K8+G-k%

P (XABt |ZW

t ,Xt−1,e) =P (ZW

t |XABt ,Xt−1,e)P (XAB

t |Xt−1,e)

P (ZWt |Xt−1, e)

∝ P (ZWt |XAB

t , e)P (XABt |Xt−1, e) (16)

e0NQAO$XABt ,{NG"kH$&roN<G ZW

t HXt−1OH)G"k

3HrQ$F$k%

15

Page 22: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

0 (16)N&A$^:$&Uhl`NP (ZWt |XAB

t , e)OJ<Nh&K7FW;

9k%uVQ= e 6= 0G"ksDN*N oA, oBNLVOv0psH7F?(i

lF$k%3liNLVr=l>l lAt = (xA, yA) , lBt = (xB, yB)H9kH$0

(1)$0 (2)+iW;7?E4LV g$*NNE5N?QµA, µBHNVKO!0

G=5lkONb<asHN`jg$,8_9k%

µA(lAt − g) = µB(g − lBt ) (17)

3NX80r)sH7FQ$F$P (XABt |Xt−1, e)GW;5l?*N oA, oBN

uVN>b+i$0 (17)r~?5J$>br~Q9k (0 (18))%

P (ZWt |XAB

t , e)=

1 if µA(lAt − g) = µB(g − lBt )

0 otherwise(18)

YE1H@H$OsIjs05lF$k*NOf+i%lF$k?a$LV

OT@G"k%>CF$~o t− 1K*1kLV,j^i:$~OsY$:U#

k?NM(rQ$k3H,G-J$%7+7$sFj!GO+airQ$F*

N,OsIjs05lF$kGfbLVrW;7F$k?a$OsIjs0f

N*NKP7Fb~o t− 1K*1k8_N(^CWP (lmt |Zt,Xt−1),aail

F$k%>CF$0 (17)N)srxQ9k3H,D=KJCF$k%

l} P (XABt |Xt−1, e)KD$FO$*NOMVNUWG*NO0+5lk?

a$*}*J?0bGkr>j7FW;9k3HOq7$%3N?a$*N,

,&9,[K>CFis@`K\09kH>j7$>0NuVr~V/85;

k3HG@k%

JeNh&J3PaxKpE$F$F*N omN=_NuVP (Xmt |ZW

t ,Xt−1)

rdj9k%

\FGO$$YsHKm\9k3HG#t1~K*N,\07?lgKP~

9k%+aiN_GOWC~Kj"k?$`GOsIjs0N+O&*;,!

PG-J$djr$YENQ=+ij"k?$`KOsIjs0N+O&*;

r!P9k3HGrC7F$k%^?$WCfK#tNOsIjs0,+O&

*;7?lg$YE;s5N_GOP]*NLVNCj,q7$lg,"k,$

N(*JbGk=Khj$eG+ai&Nps,@il?~Kj+Pj9k3

H,G-k%5iK$+ai&N*NNLVpsrQ$k3HG$#tN*N

,1~K\07?lgGbYE;s5&GLVNW;,D=KJCF$k%

16

Page 23: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

h 4OG$+aiHYE;s5rH_go;?sFbGkKhj$+ai$Y

E;s51NGOPhG-J+C?dj,rh5lF$k3HrB3Khj(

7$\FNsFj!N-z-r(9%

h4O B3&M!

3OGO$+aiHYE;s5+i@ilkpsr}g7?N(*JW;b

GkrsF7?%\OGO3Nj!rH&?aNO<I&'"$^?$B3H

M!KD$FRYk%B3rT&K"?j$sFj!NN(W;bGkNQi

a?_j,,WHJk%=3G$=wB3H7FYE;s5N:YN>A$Z

S$*N,V+l?jhil?j7?3HG/3kYEQ=N~V*d\NQ

,rTC?%=wB3NkLKpE$F$2OGRY?YEN60!PKQ$

kgM δbefore, δafter$ZS$YEN8`P9 σqrW;9kG<?NDt qlenr_

j7?%

4.3.1aNB3 (B3A)GO$WCfKP]*Nr1~KV/u7KP7Fs

Fj!r,Q7$j"k?$`GP]*NrV$?3Hr!PG-F$k3H$

ZS$*NLV,djG-F$k3HrN'7?%^?$4.3.2aNB3 (B3

B)GO$H_)FnHXN,QcH7F!PfeGnHTKZ<Q</iUH

rn.7Fbi$$=NG<?;CHKP7FsFbGkr,Q7?%5iK$

4.3.3aNB3 (B3C)G$4}nHXN,QcH7F 4MNo3TrP]K!

PfeG)`Nim-dZGrTCFbi$$=NG<?;CHKP7FsF

bGkr,Q7?%

GiK$4.1aG\&fGNQ,D-HO<I&'"N\YrRYk%3$F$

4.2aGOsFj!NW;bGkNQia?$gMr_j9k?aN=wB3N

\YrRYk%GeK$4.3aGB3A,B,CN\YH=NkL&M!rRYk%

4.1 Q,D-HO<I&'"

^:$\&fGQ$?Q,D-HO<I&'"N\YrRYk%\&fGO$

+aiHYE;s5r^ 3Nh&K_V7$P]*NNOsIjs0jPr

TC?%YE,W,G-knHfr)n7$yNeKV$FxQ7?%^?$

+aiOM*NhKhkWC,Gb/J/Jkh&K$nHTH~+$gC?

LVNe}K_V7?%HQ7?O<I&'"O$YErW,9km<I;k

17

Page 24: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

^ 3: \&fNQ,D-

^ 4: nHfHYENG<

?m,<

^ 5: nHfK_V7?

m<I;k

(HBM=C9B , GgYE 50N)$m<I;kNG<?m,< (HBM=Quamtum

X MX840A)(^ 4)$+ai (Logicool Webcam Pro 9000)+i=.5lF$k%

m<I;kOnHfNMyK_V7? (^ 5)%^?$+aiO 640_ 480N+

i<h|rh@9kh&_j7?%nHf7DtO"k_=G}$|T-$b

5O=l>l 750mm$500mm$8mmNbNrQ$?%

4.2 YE;s5\<INC->A

YEN60r!P9k?aNgM δbefore, δafter$ZS$YEN8`P9σqrW

;9kG<?NDt qlenJIr_j9k3Hr\*H7F$=wB3rTC?%

4.2.1 YE;s5:YN4:

YE;s5K++kYEN?MHB]KYE;s5,(9MH,oKlW9

k3H,}[G"k%7+7$B]KON$:KhkFAru1k?a$$Y

sH,5/HbYE;s5,(9MO?M+i:lk%=3G$YE;s5N

m<I;kNYEN,j:Yr!Z7?%3NB3kL+i$YE60!PN

?aNgM δbefore,δafterrhj7?%

*N,!PfeKV+lFBj7F$ku7G;s5+iYEG<?r,j

9k%=3+iis@`K 5005sWkN,jG<?r*r7$=liNG<?

N,6r,j7?%*NKOELrQ(k3H,G-k*bjrHQ7?%*

bjNE5N,jKO ISHIDA=VIM-7000WrQ$?%IM-7000Om9 1gJ

bGE5r,j9k3H,G-k%50g+i 500g^GN$/D+NE5N*

bjKP7FG<?r,j7?%

50g , 500gN*bjNlgG=l>lN,6rW;9kH$50gN*bjN

YEG<? 500DN8`P9O 4.16$500gN*bjNYEG<?N8`P9O

18

Page 25: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

^ 6: 100gN*bjNYEQ= ^ 7: 300gN*bjNYEQ=

4.18HJC?%100gd 300gN*bjGb$18h&J8`P9r(7?%3

N=wB3kL+i$YEN8`P9O7DK++kYEKMiJ$3H,N

'5l?%>CF$YEN8`P9OljG"kH>j7$δbefore, δafterNMr

δbefore = δafter = 2σ ; 8K_j7?%

4.2.2 YEN~V*Q=N4:

*N,!PfK\O7?]NYEN60,}^k^GN~Vr4:9k3H

Khj$YEN8`P9 σqrW;9k?aKQ$kQ,MOsN95 qlenr_

j9k%

*N,!PfK\O7?]NYEG<?NQ=rQ,7$*N,V+l?~$

hil?~NYEN60NQ=r4:9k%*NKO0aH1MN*bjrH

Q7$4.1.1aN=wB3H1MK$/D+NE5N*bjKP7FYENQ=

r4:7?%J*$sFj!GOP3*KYEG<?r,j9k5sWjs0

l<Hr 125HzK_j7F$k,$3NB3GO$hj\7/4:9k?aK

5sWjs0l<Hr200HzK_j7?%3lhjb$5sWjs0l<HG

Q,9kHN$:NFAru1d9/Jk3H,N'5l??a$5sWjs

0l<HO 200HzK1ak3HH7?%

^ 6$^ 7K=l>l 100g$300gN*bjGQ,5l?YEG<?N~V*

Q=r(9%IAiN*bjGb$*N,_V7FYEKg-JQ=,88F+

is 0.6CGQ=,}^C?%>NE5N*bjGb$?/Nm9O"kbNN

s 0.5CAs 0.7CGQ=,}^kkLHJC?%3lhj$o:+K[Jk~

oNOsIjs0Gb$/3C?~oN9,s 0.6CJbG"lP1~K/3C

?H=j5lk3H,o+C?%^?$qlenO$60,}^k^GK++k*h

19

Page 26: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

^ 8: *NNOsIjs0NMR

=N~VHsFj!NYEN5sWjs0l<HrM87$qlen = 0.6∗125 = 75

H7?%

4.3 }gbGkN>A

=wB3NkLKhj_j7?Qia?rQ$FB3A,B,CrTC?%^:

B3AGO$;s51NGOj"k?$`GOsIjs0N+O&*;r!P

9k3H,$qJu7KP7F$sFj!KhCFj"k?$`G!PG-k

3HrN'7?%!KB3 B,CG$BD-XN,Qr[j7?B3rTC?%

B3BGOZ<Q</iUHrn.9knH$B3CGOM2Nim-dZG

rT&nHKP7FsFbGkr,Q7$INxYN:YG*NNOsIjs

0N+O&*;,!PG-k+rN'7?%

4.3.1 }gbGkN-z->A (B3A)

WCfK*NNOsIjs0r1~K+O&*;9ku7 (^ 8)KP7F$s

FbGkr,Q7?%+ai1HNj!GO$04KWC5lF$k*NKX

7FOOsIjs0N+O&*;O/J/HbWC,5/Jk^G!PG-J

$%^?$YE;s51NN>hj!GO$OsIjs0N+O&*;N?$

_s0O!PG-k,$=lir,1F!P9k3H,q7/$5iK$P]

*NLVNdjb$qG"k%

sFbGkGO$YsHKm\9k3HG$YE;s5Nps+i=l>l

N*N,V+l?+hil?+rN(*KW;9k (0 (11))%̂ ?$)s0 (17)

rQ$k3HGWCfN*NKP7FbLVrdj9k%3Ns@rB3G!

20

Page 27: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

$YsH /-?~o [s] !P7?~o [s] !P~om9 [s]

Nj:Taken 8.411 9.035 0.624

O5_:Taken 10.439 11.063 0.624

Nj,O5_:Put 14.791 16.117 1.326

= 1: $YsH!P~o

^ 9: B]N*NNLV ^ 10: NjN8_N(^CW

Z7$sFj!N-z-r(9%

P]*NNl"N0-r^ 8K(9%P]*NKO$O5_ (46.7g)HNj

(91.7g)NsDrQ$?%Gi$!PfKO?bV+lF$J$ (^ 88e)%^

:$P]*NrlD:DV$F$-$i|P?rT& (^ 8f{e)%i|P?,

*;7?>er~o 0H7$*NrlD:Dhk (^ 8&e,8<)%=Ne$N

jKWC,"kuVGO5_HNjr1~KV/ (^ 8f{<,&<)%3NG<

?;CHKP7F$sFbGkr,Q7?%

kLO$P]*N,V+l?3H$hil?3HOi|P?nHb^aF4

F57/!P5l?%WCfK#tN*Nr1~KV$?lg (^ 8f{<)G

b$=li,V+l?3H,57/!P5l?%^?$sDN*N,1~KV

+l?>eNNjN8_N(^CWNPOr^ 10K(9%WCfGbNjNL

V,djG-F$k3H,N'5l?%

$YsHr!P7?~oH$B]K$YsH,/3C?~or= 1K(9%1

lN*NKP7FN$YsH!P~oOs 0.6CNm9,N'5l$sDN*

NKP7FN$YsH!P~oOs 1.3CNm9,N'5l?%3NxYNm

9G"lP$j"k?$`GNYgKYcOJ$HM(F$k%J*$$Ys

H,/-?~oOj0GN'rTC?%

4.3.2 H_)FnHXN}gbGkN,Q (B3B)

3$F$sFj!rB]NH_)FnHKP7F,Q7$\FGsF7?b

Gk,=uGINxYN:YGB]NnHfNOsIjs0N+O&*;r!

PG-kN+r!Z7?%

21

Page 28: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

;q !Pst/V+l?st [s] !Pst/hil?st [s]

Nj 3/4 3/3

O5_ 2/2 0/1

+C?< 2/4 0/3

j, 2/4 0/3

= 2: sFbGkN,QkL (B3B)

o3TK$Z<Q</iUHNnHrTCFbiC?%Z<Q</iUHK

O$CanonRNWebZ<8 [10]Gx+5lF$kG`N&A$V&5.WrQ$

?%;qO$+C?< (22.4g)$O5_ (46.7g)$Nj (91.7g)$j, (16.3g)$Z

S$Z<Q</iUHQN|frHQ7FbiC?%O5_O|frZk?a$

NjO|fr=jgo;k?a$^?$+C?<Hj,O|fN^j\rD1

Fbi&?aKHQ7FbiC?%3lKhj$sD1~KhC?jV$?j

9k3H$ZS$hC?jV$?j9kJ0NN$:,YEK~k%J*$|f

OsoKZ/YE;s5G!PG-J$?a$!PP]*NKO^aJ+C?%

= 2KB3kLN\Yr(9%*N,V+l?3H$hil?3HKP9k

sFj!NPOkLNF=(O=l>l 64.3%$30.0%HJC?%NjJIN

"kxYNYE,"k;qOh/!P5l?,$j,d+C?<JINE5,

Z$;qO&^/!P5lJ+C?%3lO$^j\rU1kH$C?!Pf

H\(7J,iT&nHGQ$k;qO$HQ7?e=N^^V+lk3H,

?$%=N?a$YEQ=r!P9k3H,G-J+C?HM(ilk%J*$

B]KV+l?st$ZS$hil?stOj0GN'rTC?%

l}$*N,V+l?3H$hil?3HKP9k,g(O=l>l 34.6%$

14.3%HJC?%nHTH!PfHN\($"k$O$|fH!PfHN\(

KhCFYENQ=,/3j$=N?aKm!P,+il?%*N,V+l?

3H$hil?3HKhCF/3kYEQ=H$=lJ0N>NWxKhCF

/3kYEQ=Hr,1kh&J"k4j:`,#e,WKJk3H,N'5

l?%

4.3.3 4}nHXNsFbGkN,QJB3CK

B]N4}nHNltKsFbGkr,Q7$sFbGk,INxYOsI

js0r!PG-kN+rN'7?%

nHfeK^JDrGj7?D-GT<i<rQ$FM2Nirm-$=N

22

Page 29: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

^ 11: B3CGQ,5l?h|Nlc

o3T !PstJV/K !Pst (hk) 5~Q

a 2/3s 2/4s 4/4s

b 1/3s 2/4s 1/2s

c 3/3s 2/4s 5/10s

d 1/3s 3/4s 7/11s

gW 7/12s 9/16s 17/27s

= 3: B3CNkL

e$M2rqzG>nZjK9knHr4MNo3TKTCFbiC? (^ 11)%

3NnHKP7FsFbGkr,Q7$4}oqG"kT<i< (30.5g)$qz

(71.4g)$M2 (95.0g)NOsIjs0,!PG-F$k+r!Z7?%^?$3

NnHGOZG~JIK*NNOsIjs0J0N6xGYEK60,/89

k%sFbGk,=N60KP7F$*NNuV,QoCF$J$H=j7$~

QG-k+KD$Fb!Z7?%J*$M2O)`G"k?a+(dE5NC

'L,TQG"kH$&)sKgoJ$P]G"k,$#eN]jbM87F

P]*NK^a?%

kLO= 3Nh&KJC?%*N,V+l?3H$hil?3HKP9k

F=(O=l>l 58.3%(7/12s)$56.3%(9/16s)HJj$,g(O=l>l

29.2%(7/24s)$47.4%(9/19s)HJC?%$YsH,/3C?s0.6A1.3Ce

K*NNOsIjs0r!P9k3H,G-?%^?$*NN\0J0K/x

7F!P5l?YEQ=,N'5l?,$=N&AN 63.0%(17/27s)r57

/~QG-?%lcH7F$"ko3TN4}nHKP9k5rG<?HsF

bGkNPOkLr= 4$= 5K(9%J*$5rG<?OB]N4}nHrQ

,7Fj0Gn.7?%J<KM!rRYk%

(*1)KX7FO$T<i<,hil?jV+l?j7?3Hr$qzHM2,

1~Khil?jV+l?j7?3HHm!P7F7^C?%4}T,T<i<

rhk$YsH,/3C?]NsFbGkNPOO$M2,hilFqz,V

23

Page 30: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

$YsH ~o [s] !P

T<i<:T 18.9 (*1)_

M2:T 20.2 {

M2:P 57.3 (*2)_

T<i<:P 59.0 (*1)_

M2,qz:T 60.1 {

qz:P 102.5 {

= 4: 5rG<? (TOhil?3H$P

OV+l?3Hr=9)

argmax(P(e)) ~o [s] 5m

M2:T,qz:P 19.6 (*1)_

M2:T 21.3 {

M2:T,qz:P 24.9 _

Nothing 31.8 {

Nothing 40.8 {

Nothing 56.1 {

qz:P 58.3 (*2)_

M2:P,qz:T 59.3 (*1)_

qz,M2:T 61.1 {

M2:Put 97.1 (*3){

Nothing 101.5 {

qz:Put 103.5 {

= 5: sFbGkNPO

+lk3H,1~K/3C?N(, 37.1% $T<i<,hil?N(, 32.0%

Go:+KtC?%3lO$YEQ=,`w7F7^C?3H,6xHM(i

lk%3NdjXNPhO$#eN]jH7?$%

(*2)KX7FO$M2Ni,m+l??aKZ/JCF7^$$qzNYE

H`w7F7^C?3H,6xHM(ilk%3Nh&J*NN+(dE5C

'NQ=K#ePh7F$/,W,"k%

(*3)KX7FO$ZGfO60,d(VJ//3CF$k?a$YsH,!

P5l:$M2NZG,*oC?eKM2,V+l?3H,!P5l?%M2

NZG,*oC?>eN~oO96.1CG"C?%M2OZG5lF$k,$g

WYEOQ=7J$?aM2H=j9k3H,G-?%3Nh&K$*NN+

(,Q=7FbV+l?3Hr!PG-?cb"C?%

h5O *ojK

\&fGO$Q,G<?KpE$FyNeKV+l?F*NKP7FNOs

Ijs0rj"k?$`GjP9k3Hr\*H7?%

3N\*KX"9k>hj!KO$+airQ$?j!HYE;s5rQ$

24

Page 31: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

?j!,"k%+airQ$?>hj!GO*NKWC,"C?lgK$j"k

?$`G*NNOsIjs0rjP9k3H,6}*K$qHJk%^?$Y

E;s5rQ$?>hj!GO*N,#t1~K\07?lgK$=l>lN

*NNOsIjs0r,1FjP9k3H,6}*K$qHJk%

\FGO$+aiHYE;s5+i@ilkpsr}g7?N(bGkr,

Q9k3HG$;s51NGO$qG"C?WC$#t1~\0Nu7KPh

7?%+aiGO*NKWC,5$Bj$#tN*N,1~K\07Fb=l

irL9K!P9k3H,G-k%YE;s5GO*N,#t"C?H7Fb$

YEQ=Km\9k3HGWCKX8J/j"k?$`G$/J/Hbhil

?jV+l?jH$C??i+NQ=,/87?3HO!PG-k%>CF$3

liN;s5r}g9k3HG_$N;s5GOq7+C?u7KPhG-k

H|T5lk%^?$N(bGkrxQ9k3HG$?H($WCfK$+D$

#tN*N,1~K\07?lgGb$WC*;~Kmjrj+Pj9k3H

,G-k%

B3GO$1NN;s5GO!P,$qJu7$ZS$B]NnHKP7Fs

FbGkr,Q7?%0TNB3GO$WCfK#tN*N,1~K\07F

b$=lir,1F!PG-k3HrN'7?%^?$P]*NNLV,djG

-F$k3HrN'7?%eTNB3GO^:$Z<Q</iUHNn.nH

KP7FsFj!r,Q9k3HG$sFj!,B]NnHKP7F*N,h

il?jV+l?j7?3HrIl/i$57/!PG-k+r!Z7?%3

NkL$*N,V+l?3H$hil?3HKP9kF=(O=l>l 64.3%$

30.0%HJj$,g(O=l>l 34.6%$14.3%HJC?%

^?$o3TK4}nHrTCFbi$$=NnHKP7FsFj!r,Q

7?%3NkL$*N,V+l?3H$hil?3HKP9kF=(O=l>

l 58.3%(7/12s)$56.3%(9/16s)HJj$,g(O=l>l 29.2%(7/24s)$

47.4%(9/19s)HJC?%*NN\0J0K/x7F!P5l?YEQ=,N

'5l?,$=N&AN63.0%(17/27s)r57/~QG-?%*N,hil?

jV+l?j7?3HN!PN575rhjI/9k?aK$OsIjs0K

hCF/3kYEQ=H=N>NWxKhCF/3kYEQ=Hr,1kh&

J"k4j:`,,WG"k3H,,+C?%

*N,V+l?3H$hil?3HJ0NWxKhCF/3kYEQ=XN

P~$i|P?nHN1Q$ZS$*Ntd*NN+(NC'LN)sN1Q

25

Page 32: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

JI,#eN]jH7Fs2ilk%

U-

\&frJakK"?j$?gJfX3rrj^7?~;3'5x$:Zm

7Z5xK</6UW7^9%^?$|oND@rL8F?/NN1d(6r

:-^7?3*NRZ5x$UZnHu5$f<B8u5$6\XKujK|/

fi=7e2^9%GeK$\&fKP7F?/NU+r<5C?'10k<

WN'M$BSK$~;&f<N'MK6UW7^9%

2M8%

[1] Hashimoto, A., Inoue, J., Nakamura, K., Funatomi, T., Ueda, M., Ya-

makata, Y. and Minoh, M.: Recognizing ingredients at cutting process by

integrating multimodal features, Proc. of the ACM multimedia 2012 work-

shop on Multimedia for cooking and eating activities , pp. 13–18 (2012).

[2] 6\XK, UZnH, f<B8, ~;3': ye*N!PrP]H7?\(

}3U1Khkm!P~Q, .X@, Vol. J95-D, No. 12, pp. 2113–2123

(2012).

[3] Isard, M. and Blake, A.: Condensation – conditional density propagation

for visual tracking, International journal of computer vision, Vol. 29, No. 1,

pp. 5–28 (1998).

[4] MacCormick, J. and Blake, A.: A Probabilistic Exclusion Principle for

Tracking Multiple Objects, International Journal of Computer Vision,

Vol. 39, No. 1, pp. 57–71 (2000).

[5] R^<, 3D0,,>ftwJ, <edJ, d<'~, 9+nY: SIR/MCMC

Q<F#/kU#k?rQ$?,6+aiHl<6Khk#t\0NN1

~IW, |\m\CHXqo, Vol. 28, No. 1, pp. 65–76 (2010).

[6] Grabner, H., Matas, J., Van Gool, L. and Cattin, P.: Tracking the invisible:

Learning where the object might be, CVPR2010 , IEEE, pp. 1285–1292

(2010).

[7] Schmidt, A., Strohbach, M., Laerhoven, K. v., Friday, A. and Gellersen,

H.-W.: Context Acquisition Based on Load Sensing, Proc. of the 4th inter-

26

Page 33: +aiHYE;s5N gKhkye NK P9kOsIjs0 O oN P - 京都大学 · iii Detecting Startand End Times of Object-Handlings on TableByIntegrating Camera and Load Information Ryuta YASUOKA Abstract

national conference on Ubiquitous Computing , UbiComp ’02, pp. 333–350

(2002).

[8] Lowe, D. G.: Distinctive Image Features from Scale-Invariant Keypoints,

Int. J. Comput. Vision, Vol. 60, No. 2, pp. 91–110 (2004).

[9] Harrism, C. and Stephens, M.: A combined corner and edge detector, Alvey

Vision Conference (1988).

[10] Canon Inc. and Canon Marketing Japan Inc.: Canon'-dNs[<`Z<

8, http://canon.jp/ (2012).

27