Towards stratified model-based environmental visual perception for humanoid robots

Authors:
D. Gonzalez-Aguirre;T. Asfour;R. Dillmann
Affiliations:
Institute for Anthropomatics, Humanoids and Intelligence Systems Lab, Karlsruhe Institute of Technology, Adenauerring 2, Karlsruhe, Germany;Institute for Anthropomatics, Humanoids and Intelligence Systems Lab, Karlsruhe Institute of Technology, Adenauerring 2, Karlsruhe, Germany;Institute for Anthropomatics, Humanoids and Intelligence Systems Lab, Karlsruhe Institute of Technology, Adenauerring 2, Karlsruhe, Germany
Venue:
Pattern Recognition Letters
Year:
2011

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Abstract

An autonomous environmental visual perception approach for humanoid robots is presented. The proposed framework exploits the available model information and the context acquired during global localization by establishing a vision-model coupling in order to overcome the limitations of purely data-driven approaches in object recognition and surrounding status assertion. The exploitation of the model-vision coupling through the properceptive components is the key element to solve complex visual assertion-queries with proficient performance. An experimental evaluation with the humanoid robot ARMAR-IIIa is presented.