Curious George: An attentive semantic robot
Robotics and Autonomous Systems
Object recognition from omnidirectional visual sensing for mobile robot applications
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Multiple viewpoint recognition and localization
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part I
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Visual feedback is used extensively in robotics and application areas range from human-robot interaction to object grasping and manipulation. There have been a number of examples of how to develop different components required by the above applications and very few general vision systems capable of performing a variety of tasks. In this paper, we concentrate on vision strategies for robotic manipulation tasks in a domestic environment. In particular, given fetch-and-carry type of tasks, the issues related to the whole detect-approach-grasp loop are considered. We deal with the problem of flexibility and robustness by using monocular and binocular visual cues and their integration. We demonstrate real-time disparity estimation, object recognition and pose estimation. We also show how a combination of foveal and peripheral vision system can be combined in order to provide a wide, low resolution and narrow, high resolution field of view.