an integrated, modular framework for computer vision & cognitive robotics research (icvision)...
DESCRIPTION
We present an easy-to-use, modular framework for performing computer vision related tasks in support of cognitive robotics research on the iCub humanoid robot. The aim of this biologically inspired, bottom-up architecture is to facilitate research towards visual perception and cognition processes, especially their influence on robotic object manipulation and environment interaction. The icVision framework described provides capabilities for detection of objects in the 2D image plane and locate those objects in 3D space to facilitate the creation of a world model.TRANSCRIPT
#bica 2012
An Integrated,Modular Framework for
Computer Vision & Cognitive Robotics Research (icVision)
S. Harding, M. Frank, A. Förster, J. Schmidhuber
istituto dalle molle di studi sull’intelligenza artificialeuniversità della svizzera italiana
idsia / usi / supsi
Jürgen ’Juxi’ Leitner
manipulation
our iCubsetup is for
perceptionvisual
thanks to G. Metta and IIT for this picture
perceptionvisual
levels of abstraction
from 2D to 3D
three parts
Harding et al., GPTP 2012,Leitner et al., ICDL 2012 BICA 2012Leitner et al., IROS 2012
frameworkicVision
CoreicVision
objectsdetecting
Harding et al., GPTP 2012, Leitner et al., ICDL 2012
FiltericVision
objects localizing
Leitner et al., IROS 2012
3DicVision
interactionmodule
interactionmodule
interactionmodule
MoBeEframework Frank et al., ICINCO, 2012.
layers of modules
workfuture
eye-hand coordination
vision approach for reaching/grasping
for listeningthanks
[email protected] http://Juxi.net/projects http://robotics.idsia.chvideos at http://robotics.idsia.ch/im-clever/
and http://youtube.com/user/IDSIARobotics