TOWARDS GRASP-ORIENTED VISUAL PERCEPTION FOR HUMANOID ROBOTS
2009 (English)In: INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, ISSN 0219-8436, Vol. 6, no 3, 387-434 p.Article in journal (Refereed) Published
A distinct property of robot vision systems is that they are embodied. Visual information is extracted for the purpose of moving in and interacting with the environment. Thus, different types of perception-action cycles need to be implemented and evaluated. In this paper, we study the problem of designing a vision system for the purpose of object grasping in everyday environments. This vision system is firstly targeted at the interaction with the world through recognition and grasping of objects and secondly at being an interface for the reasoning and planning module to the real world. The latter provides the vision system with a certain task that drives it and defines a specific context, i.e. search for or identify a certain object and analyze it for potential later manipulation. We deal with cases of: (i) known objects, (ii) objects similar to already known objects, and (iii) unknown objects. The perception-action cycle is connected to the reasoning system based on the idea of affordances. All three cases are also related to the state of the art and the terminology in the neuroscientific area.
Place, publisher, year, edition, pages
2009. Vol. 6, no 3, 387-434 p.
Perception, attention, reasoning, neuroscience, grasping, affordances, cortical motor system, volume-bounding-box, frontal-cortex, object, detection, shape, attention, parietal, connections, premotor, areas
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-18776DOI: 10.1142/s0219843609001796ISI: 000270041900004ScopusID: 2-s2.0-70349576912OAI: oai:DiVA.org:kth-18776DiVA: diva2:336823
QC 20100525 Workshop on the Active Vision of Humanoids held at the Conference on Humanoid Rotobics, Pittsburgh, PA, NOV, 20072010-08-052010-08-052012-01-28Bibliographically approved