An Algorithm for Affordance Parts Detection of Household Tools Based on Joint Learning
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摘要: 对工具及其功用性部件的认知是共融机器人智能提升的重要研究方向.本文针对家庭日常工具的功用性部件建模与检测问题展开研究，提出了一种基于条件随机场（Conditional random field，CRF）和稀疏编码联合学习的家庭日常工具功用性部件检测算法.首先，从工具深度图像提取表征工具功用性部件的几何特征；然后，分析CRF和稀疏编码之间的耦合关系并进行公式化表示，将特征稀疏化后作为潜变量构建初始条件随机场模型，并进行稀疏字典和CRF的协同优化：一方面，将特征的稀疏表示作为CRF的随机变量条件及权重参数选择器；另一方面，在CRF调控下对稀疏字典进行更新.随后使用自适应时刻估计（Adaptive moment estimation，Adam）方法实现模型解耦与求解.最后，给出了基于联合学习的工具功用性部件模型离线构建算法，以及基于该模型的在线检测方法.实验结果表明，相较于使用传统特征提取和模型构建方法，本文方法对功用性部件的检测精度和效率均得到提升，且能够满足普通配置机器人对工具功用性认知的需要.Abstract: The research for coherent robots to cognize tools and their affordance parts is an important direction to improve their machine intelligence. Aimed at modeling and detecting affordance parts of household tools, a joint learning algorithm for affordance parts detection via both conditional random field (CRF) and sparse coding is proposed. Firstly, geometric features of affordance parts are obtained from depth images of the tools. Secondly, the coupled relationship between CRF and sparse coding is analyzed and described with formulations. Initial CRF model is built by using sparse coded features as latent variables, and both the sparse dictionary and CRF are optimized simultaneously. On one hand, the sparse coded features are considered as the random variable condition and the weight parameter selector of CRF, and on the other hand, sparse dictionary is updated with the modulation of CRF. Then the model is decoupled and solved with the adaptive moment estimation (Adam). Finally, the offline joint learning algorithm for affordance parts modeling and online detection method are given. The experimental results show that, comparing with traditional features extracting and modeling methods, both the accuracy and efficiency of our method are improved, which can satisfy the affordance cognition requirements for robots with common configurations.1) 本文责任编委 胡清华
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图 3 包含功用性部件“盛(Contain)”的工具及其对应的二值标签
Fig. 3 Tools containing affordance of "contain" and the corresponding labels in binaryzation
图 4 本文方法与其他方法的检测结果对比图((a)为单一场景下的待检测工具图, 由上到下分别为碗(bowl)、杯子(cup)、勺子(ladle)、铲子(turner); (b)为待检测目标功用性部件的真实值图, 由上到下分别为盛(contain)、握抓(wrap-grasp)、舀(scoop)、支撑(support); (c) SIFT +文献[15]方法检测结果; (d)深度特征+文献[15]方法检测结果; (e) SIFT +文献[16]方法检测结果; (f)深度特征+文献[16]方法检测结果; (g)深度特征+文献[7]方法检测结果; (h)深度特征+文献[13]方法检测结果; (i)本文方法检测结果)
Fig. 4 Comparison of detection results between our method and others ((a) Tools in a single scene, from the top to the bottom: bowl, cup, ladle and turner; (b) Ground truth of object affordances, from the top to the bottom: contain、wrap-grasp、scoop、support; (c) Detection result with SIFT + Paper [15]; (d) Detection result with Depth + Paper [15]; (e) Detection result with SIFT + Paper [16]; (f) Detection result with Depth + Paper [16]; (g) Detection result with Depth + Paper [7]; (h) Detection result with Depth + Paper [13]; (i) Detection result with our method)
图 5 本文方法与其他方法的精度召回率曲线对比
Fig. 5 Comparison of precision recall curves between our method and others
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