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An Active Vision System for Detecting, Fixating and Manipulating Objects in the Real World
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-0579-3372
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
2010 (English)In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176, Vol. 29, no 2-3, 133-154 p.Article in journal (Refereed) Published
Abstract [en]

The ability to autonomously acquire new knowledge through interaction with the environment is an important research topic in the field of robotics. The knowledge can only be acquired if suitable perception-action capabilities are present: a robotic system has to be able to detect, attend to and manipulate objects in its surrounding. In this paper, we present the results of our long-term work in the area of vision-based sensing and control. The work on finding, attending, recognizing and manipulating objects in domestic environments is studied. We present a stereo-based vision system framework where aspects of top-down and bottom-up attention as well as foveated attention are put into focus and demonstrate how the system can be utilized for robotic object grasping.

Place, publisher, year, edition, pages
2010. Vol. 29, no 2-3, 133-154 p.
Keyword [en]
cognitive vision systems, attention, object recognition, object manipulation and grasping
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-28720DOI: 10.1177/0278364909346069ISI: 000275038200002Scopus ID: 2-s2.0-77949365143OAI: oai:DiVA.org:kth-28720DiVA: diva2:390016
Funder
EU, FP7, Seventh Framework Programme, IST-FP7-IP-215821
Note
QC 20110120Available from: 2011-01-20 Created: 2011-01-19 Last updated: 2017-12-11Bibliographically approved

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Björkman, MårtenKragic, Danica

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