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Active Multi-view Object Search on a Humanoid Head (2009)
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| Venue: | in Robotics and Automation, 2009. ICRA ’09. IEEE International Conference on |
| Citations: | 8 - 3 self |
BibTeX
@INPROCEEDINGS{Welke09activemulti-view,
author = {Kai Welke and Tamim Asfour},
title = {Active Multi-view Object Search on a Humanoid Head},
booktitle = {in Robotics and Automation, 2009. ICRA ’09. IEEE International Conference on},
year = {2009},
pages = {417--423}
}
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Abstract
Abstract—Visual search is a common daily human activity and a prerequisite to the interaction with objects encountered in cluttered environments. Humanoid robots that are supposed to take part in human daily life should possess similar capabilities in terms of representing, attending to and recalling objects of interest in order to ensure robust perception in human-centered environments. In this paper, we present necessary processes, memories and representations which allow to identify and store locations of objects, encountered from different angles of view, in a visual search task. In particular, we introduce the so-called Feature Ego-Sphere (FES) as the scene memory for a humanoid robot. Experiments comprising different visual search tasks have been carried out on an active humanoid head equipped with perspective and foveal stereo camera systems. The scene is analyzed actively using both camera systems in order to find instances of searched objects in a consistent and persistent manner. I.
Keyphrases
humanoid head active multi-view object search humanoid robot abstract visual search foveal stereo camera system searched object scene memory camera system so-called feature ego-sphere different visual search task cluttered environment active humanoid head robust perception visual search task common daily human activity similar capability different angle persistent manner human-centered environment human daily life necessary process
