Visual Perception for Humanoid Robots

Visual Perception for Humanoid Robots

Environmental Recognition and Localization, from Sensor Signals to Reliable 6D Poses

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This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot's mental representations to physical entities. These include sensor & actuator modeling, calibratio...