关键词: 机器人, 认知能力, 表面凹凸度, 分割识别, 鲁棒性

Abstract: In order to improve the robot’s cognitive environment, a scheme is proposed to detect unknown objects by means of the object surface roughness. The program replaces the Boolean determination to the continuous local surface irregularities, and on the combination of surface roughness and the information of the method, a new method for calculating the partition weight is proposed, which can reveal the boundary between the object and the scene and the edge of the object. On the basis of this, the construction of the input scene is constructed to the weighted graph, and the unknown object is acquired by the fast graph partitioning algorithm. The experimental results show that, compared with the method based on the convexity, the robustness of the method is better than that of the observation noise and the estimation error.

Key words: robot, cognitive ability, surface roughness, segmentation and recognition, robustness