Research On Toolaffordance Parts Combination And Tools Classification Of Family Common Tools

With the continuous development of artificial intelligence,the future life will change dramatically,In this society,face the disabled,elderly persons with reduced mobility who need care,home service robots play a important role.During the mission,the recognition and use of family tools has become an important content.In this paper,the cognitive research on commonly used tools and tools affordance in the home is to give home service robots the ability of cognitive tools and use tools through artificial intelligence.This article will study three aspects of the tool's affordance parts edge detection,affordance parts classification and application,tool classification and recognition,The details are as follows:First of all,from the perspective of high-level semantics,the tool affordance can be used as the basic semantics of the tool.For the overall cognitive of tools for home service robots,the method combined the affordance parts of the tool to model overall tool was presented.This article draws on the method of constructing random forests,each affordance part is edge-detected,then combine detected functional parts and to use the classification of the overall tool affordance,to improve the classification accuracy.Secondly,due to variety of types and uses of household daily tools,It is difficult for robots to establish adaptive corpus in service process.In view of the classification of tool affordance,contain?cut?bound?support and scoop five tool active affordance of family common tools are as robot corpus.The affordance dictionary is established to enable the home service robot to search for alternative tools that have the same kind of affordance during the execution of the task so as to complete the task smoothly.Finally,From the perspective of image classification.For different tools overall modeling issue,the tool modeling method based on geometry features spacial pyramid pooling was presented,and have a detailed description of the tool modeling method based on pooled pyramids of tool geometry features,combine SVM linear classifier to implement the classification and recognition of specific tools.