ICRA 2012 Paper Abstract


Paper WeA05.5

Browatzki, Bjoern (Max Planck Institute for Biol. Cybernetics), Tikhanoff, Vadim (Italian Institute of Technology), Metta, Giorgio (Istituto Italiano di Tecnologia (IIT)), Buelthoff, Heinrich H. (Max Planck Institute for Biol. Cybernetics), Wallraven, Christian (Korea University)

Active Object Recognition on a Humanoid Robot

Scheduled for presentation during the Invited Session "Embodied Inteligence - iCUB" (WeA05), Wednesday, May 16, 2012, 09:30−09:45, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 14, 2018

Keywords Humanoid Robots, Recognition


Interaction with its environment is a key requisite for a humanoid robot. Especially the ability to recognize and manipulate unknown objects is crucial to successfully work in natural environments. Visual object recognition, however, still remains a challenging problem, as three-dimensional objects often give rise to ambiguous, two-dimensional views. Here, we propose a perception-driven, multisensory exploration and recognition scheme to actively resolve ambiguities that emerge at certain viewpoints. We define an efficient method to acquire two-dimensional views in an object-centered task space and sample characteristic views on a view sphere. Information is accumulated during the recognition process and used to select actions expected to be most beneficial in discriminating similar objects. Besides visual information we take into account proprioceptive information to create more reliable hypotheses. Simulation and real-world results clearly demonstrate the efficiency of active, multisensory exploration over passive, vision-only recognition methods.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-11-14  07:25:41 PST  Terms of use