On Environmental Model-Based Visual Perception for Humanoids

Authors:
D. Gonzalez-Aguirre;S. Wieland;T. Asfour;R. Dillmann
Affiliations:
Institute for Anthropomatics, University of Karlsruhe, Karlsruhe, Germany;Institute for Anthropomatics, University of Karlsruhe, Karlsruhe, Germany;Institute for Anthropomatics, University of Karlsruhe, Karlsruhe, Germany;Institute for Anthropomatics, University of Karlsruhe, Karlsruhe, Germany
Venue:
CIARP '09 Proceedings of the 14th Iberoamerican Conference on Pattern Recognition: Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications
Year:
2009

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Abstract

In this article an autonomous visual perception framework for humanoids is presented. This model-based framework exploits the available knowledge and the context acquired during global localization in order to overcome the limitations of pure data-driven approaches. The reasoning for perception and the properceptive components are the key elements to solve complex visual assertion queries with a proficient performance. Experimental evaluation with the humanoid robot ARMAR-IIIa is presented.