Object recognition using appearance models accumulated into environment

This paper proposes a new method of object recognition using appearance models accumulated into RFID (Radio Frequency IDentification) tag attached to environment. Robots recognize the object using appearance models accumulated in the tag on the object. If the robot fails recognition, the robot acquires a model of the object and accumulates it to the tag. Since robots in the environment observe the object from different points of view at different time, various appearance models are accumulated as time passes. In order to accumulate many models, eigenspace analysis is applied. The eigenspace is reconstructed every time robots acquire the model. Experimental result of object recognition shows effectiveness of the proposed method.