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  Active Object Recognition on a Humanoid Robot

Browatzki, B., Tikhanoff, V., Metta, G., Bülthoff, H., & Wallraven, C. (2012). Active Object Recognition on a Humanoid Robot. In 2012 IEEE International Conference on Robotics and Automation (pp. 2021-2028). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-B77E-5 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-8F12-A
Genre: Conference Paper

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 Creators:
Browatzki, B1, 2, Author              
Tikhanoff, V, Author
Metta, G, Author
Bülthoff, HH1, 2, Author              
Wallraven, C, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: Interaction with its environment is a key requisite for a humanoid robot. Especially the ability to recognize and manipulate unknown objects is crucial to successfully work in natural environments. Visual object recognition, however, still remains a challenging problem, as three-dimensional objects often give rise to ambiguous, two-dimensional views. Here, we propose a perception-driven, multisensory exploration and recognition scheme to actively resolve ambiguities that emerge at certain viewpoints. We define an efficient method to acquire two-dimensional views in an object-centered task space and sample characteristic views on a view sphere. Information is accumulated during the recognition process and used to select actions expected to be most beneficial in discriminating similar objects. Besides visual information we take into account proprioceptive information to create more reliable hypotheses. Simulation and real-world results clearly demonstrate the efficiency of active, multisensory exploration over passive, visiononly recognition methods.

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 Dates: 2012-05
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: DOI: 10.1109/ICRA.2012.6225218
BibTex Citekey: BrowatzkiTMBW2012
 Degree: -

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Title: IEEE International Conference on Robotics and Automation (ICRA 2012)
Place of Event: St. Paul, MN, USA
Start-/End Date: 2012-05-14 - 2012-05-18

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Title: 2012 IEEE International Conference on Robotics and Automation
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2021 - 2028 Identifier: ISBN: 978-1-4673-1405-3