Active object recognition on a humanoid robot

Björn Browatzki, Vadim Tikhanoff, Giorgio Metta, Heinrich H. Bülthoff, Christian Wallraven

Research output: Chapter in Book/Report/Conference proceedingConference contribution

39 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2021-2028
Number of pages8
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Browatzki, B., Tikhanoff, V., Metta, G., Bülthoff, H. H., & Wallraven, C. (2012). Active object recognition on a humanoid robot. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 2021-2028). [6225218] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225218