Overview
- Presents recent research on environmental visual perception for humanoid robots
- Includes models and applications
- Provides an overview of model-based environmental visual perception for humanoid robots
Part of the book series: Cognitive Systems Monographs (COSMOS, volume 38)
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Table of contents (8 chapters)
Keywords
About this book
• Active Sensing: Robust probabilistic methods for optimal, high dynamic range image acquisition are suitable for use with inexpensive cameras. This enables ideal sensing in arbitrary environmental conditions encountered in human-centric spaces. The book quantitatively shows the importance of equipping robots with dependable visual sensing.
• Feature Extraction & Recognition: Parameter-free, edge extraction methods based on structural graphs enable the representation of geometric primitives effectively and efficiently. This is done by eccentricity segmentation providing excellent recognition even on noisy & low-resolution images. Stereoscopic vision, Euclidean metric and graph-shape descriptors are shown to be powerful mechanisms for difficult recognition tasks.
• Global Self-Localization & Depth Uncertainty Learning: Simultaneous feature matching for global localization and 6D self-pose estimation are addressed by a novel geometric and probabilistic concept using intersection of Gaussian spheres. The path from intuition to the closed-form optimal solution determining the robot location is described, including a supervised learning method for uncertainty depth modeling based on extensive ground-truth training data from a motion capture system.
The methods and experiments are presented in self-contained chapters with comparisons and the state of the art. The algorithms were implemented and empirically evaluated on two humanoid robots: ARMAR III-A & B. The excellent robustness, performance and derived results received an award at the IEEE conference on humanoid robots and the contributions have been utilized for numerous visual manipulation tasks with demonstration at distinguished venues such as ICRA, CeBIT, IAS, and Automatica.
Authors and Affiliations
Bibliographic Information
Book Title: Visual Perception for Humanoid Robots
Book Subtitle: Environmental Recognition and Localization, from Sensor Signals to Reliable 6D Poses
Authors: David Israel González Aguirre
Series Title: Cognitive Systems Monographs
DOI: https://doi.org/10.1007/978-3-319-97841-3
Publisher: Springer Cham
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Nature Switzerland AG 2019
Hardcover ISBN: 978-3-319-97839-0Published: 11 September 2018
Softcover ISBN: 978-3-030-07415-9Published: 20 December 2018
eBook ISBN: 978-3-319-97841-3Published: 01 September 2018
Series ISSN: 1867-4925
Series E-ISSN: 1867-4933
Edition Number: 1
Number of Pages: XXXVI, 220
Number of Illustrations: 17 b/w illustrations, 109 illustrations in colour
Topics: Computational Intelligence, Robotics and Automation, Artificial Intelligence, Image Processing and Computer Vision