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Autonomous learning of robust visual object detection and identification on a humanoid

Jurgen Leitner, Pramod Chandrashekhariah, Simon Harding, Mikhail Frank, Gabriele Spina, Alexander Forster, Jochen Triesch, Jurgen Schmidhuber
2012 2012 IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL)  
In this work we introduce a technique for a humanoid robot to autonomously learn the representations of objects within its visual environment.  ...  The learned identification is able to provide robust and fast segmentation of the objects, without using features. We showcase our system and its performance on the iCub humanoid robot.  ...  CONCLUSION We have developed and demonstrated an autonomous learning and robust detection mechanism of objects on a humanoid robot.  ... 
doi:10.1109/devlrn.2012.6400826 dblp:conf/icdl-epirob/LeitnerCHFSFTS12 fatcat:cpjcvhwkdjhmrfwdprmqe65dsm

Learning visual object detection and localisation using icVision

Jürgen Leitner, Simon Harding, Pramod Chandrashekhariah, Mikhail Frank, Alexander Förster, Jochen Triesch, Jürgen Schmidhuber
2013 Biologically Inspired Cognitive Architectures  
We present a framework combining computer vision and machine learning for the learning of object recognition in humanoid robots.  ...  We showcase both detection and identification in the image plane (2D), using machine learning.  ...  Our humanoid robot should be able to learn how to perceive and detect objects, in a manner similar to humans.  ... 
doi:10.1016/j.bica.2013.05.009 fatcat:tfyx6y6azzfylfvu7tabbdponu

Improving robot vision models for object detection through interaction

Jurgen Leitner, Alexander Forster, Jurgen Schmidhuber
2014 2014 International Joint Conference on Neural Networks (IJCNN)  
LEARNING A MODEL FOR VISUAL OBJECT DETECTION & IDENTIFICATION We are interested in building object representations that allow for fast and robust detection in visual inputs.  ...  To learn robust models of the objects our humanoid robot needs to perceive the objects in various poses and from various angles.  ... 
doi:10.1109/ijcnn.2014.6889556 dblp:conf/ijcnn/LeitnerFS14 fatcat:dmzabeooevaetjjukvzrasenhq

A Modular Software Framework for Eye–Hand Coordination in Humanoid Robots

Jürgen Leitner, Simon Harding, Alexander Förster, Peter Corke
2016 Frontiers in Robotics and AI  
This is demonstrated with the iCub humanoid robot performing visual object detection and reaching and grasping actions.  ...  A key capability of this system is reactive avoidance of obstacle objects detected from the video stream while carrying out reach-and-grasp tasks.  ...  The authors would like to thank Mikhail Frank, Marijn Stollenga, Leo Pape, Adam Tow, and William Chamberlain for their discussions and valued inputs to this paper and the underlying software frameworks  ... 
doi:10.3389/frobt.2016.00026 fatcat:ufmfl7hdfnfj3ks7zjhrjil46q

ISAC: foundations in human-humanoid interaction

K. Kawamura, R.A. Peters, D.M. Wilkes, W.A. Alford, T.E. Rogers
2000 IEEE Intelligent Systems and their Applications  
, we developed a flexible architecture for parallel, distributed robot control; a framework for robust HHI; and a control system that will let ISAC learn.  ...  We originally developed ISAC as a robotic aid system for the physically disabled (see Figure 1 ). 1 It has since evolved into a test bed for human-humanoid interaction research. 2,3 While working on ISAC  ...  Acknowledgments The DARPA Mobile Autonomous Robotics Systems program partially funded this work.  ... 
doi:10.1109/5254.867911 fatcat:rjsiipjibrbuvabsbomosnlesq

Reactive Reaching and Grasping on a Humanoid - Towards Closing the Action-Perception Loop on the iCub

Jürgen Leitner, Mikhail Frank, Alexander Förster, Jürgen Schmidhuber
2014 Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics  
We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot.  ...  Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it.  ...  FP7-IST-IP-231722, 'Intrinsically Motivated Cumulative Learning Versatile Robots' (IM-CLeVeR).  ... 
doi:10.5220/0005113401020109 dblp:conf/icinco/LeitnerFFS14 fatcat:iao4niifsbdr7iw5lum6hns7vm

Humanoid learns to detect its own hands

Jurgen Leitner, Simon Harding, Mikhail Frank, Alexander Forster, Jurgen Schmidhuber
2013 2013 IEEE Congress on Evolutionary Computation  
We herein present a novel method for a robot to learn robust detection of its own hands and fingers enabling sensorimotor coordination.  ...  Robust object manipulation is still a hard problem in robotics, even more so in high degree-of-freedom (DOF) humanoid robots.  ...  Results when visually locating the fingertips of the iCub with an evolved filter. The images with golden borders are for validation.  ... 
doi:10.1109/cec.2013.6557729 dblp:conf/cec/LeitnerHFFS13 fatcat:nlatzz2wk5a7nknltuhtjk7aaq

Special issue on Robot Vision

2013 The international journal of robotics research  
It exploits the use of recently popularized deep learning techniques to learn effective features for grasp detection.  ...  In the paper by Teo, Fermüller and Aloimonos a method for object detection and categorization using object shape in a cluttered indoor environment is proposed.  ... 
doi:10.1177/0278364913484107 fatcat:5ne2ajnlfvf4rj277mzscwn5xm

Special Issue on Robot Vision

Jana Košecká, Eric Marchand, Peter Corke
2015 The international journal of robotics research  
Of course for robotic vision we have also seen many papers with a strong control focus and also a focus on high-speed operation.  ...  In a closely related field was the special issue on Visual Servoing published in IJRR, 2003 (Volume 22, Nos 10-11).  ...  It exploits the use of recently popularized deep learning techniques to learn effective features for grasp detection.  ... 
doi:10.1177/0278364915574960 fatcat:tjdlotredzddbi6mtsn34urkay

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA April 2020 485-491 Aircraft navigation Autonomous and Cooperative Design of the Monitor Positions for a Team of UAVs to Maximize the Quantity and Quality of Detected Objects.  ...  Lee, C., +, LRA April 2020 3707-3714 Robust Humanoid Contact Planning With Learned Zero-and One-Step Cap- turability Prediction.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Challenges for robot manipulation in human environments [Grand Challenges of Robotics]

Charles Kemp, Aaron Edsinger, Eduardo Torres-Jara
2007 IEEE robotics & automation magazine  
W ithin factories around the world, robots perform heroic feats of manipulation on a daily basis.  ...  They lift massive objects, move with blurring speed, and repeat complex performances with unerring precision.  ...  Brock for his support and enthusiastic participation. Finally, they wish to thank keynote speaker R. Brooks and their fellow workshop organizers: L. Aryananda, P. Fitzpatrick, and L. Natale.  ... 
doi:10.1109/mra.2007.339604 fatcat:5za7gh2g75ctxj235xixgskap4

Special Issue on Robot Vision

Kazunori Umeda
2003 Journal of Robotics and Mechatronics  
This issue also presents two news briefs, one on a practical range sensor suited to mobile robots and the other on vision devices that are the improved ones of famous IP-5000 series.  ...  Robot vision is an essential key technology in robotics and mechatronics. The number of studies on robot vision is wide-ranging, and this topic remains a hot vital target.  ...  It exploits the use of recently popularized deep learning techniques to learn effective features for grasp detection.  ... 
doi:10.20965/jrm.2003.p0253 fatcat:u46ey4aqbfb7leiimgnw45ggye

Reem-B: An autonomous lightweight human-size humanoid robot

R. Tellez, F. Ferro, S. Garcia, E. Gomez, E. Jorge, D. Mora, D. Pinyol, J. Oliver, O. Torres, J. Velazquez, D. Faconti
2008 Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots  
or object recognition and manipulation.  ...  This paper introduces the humanoid robot Reem-B, built by Pal Technology as a research platform in the field of service robots.  ...  In this way, the system has a more robust detection in structured environment were the objects to recognize have just one color, like in balls, bottles or some landmarks.  ... 
doi:10.1109/ichr.2008.4755995 dblp:conf/humanoids/TellezFGGJMPPTVF08 fatcat:ute3fi6vvvfell6ls6grwmqypu

Table of Contents

2021 IEEE Robotics and Automation Letters  
Bruns, and A. Maier 2753 Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets . , and P.  ...  Kyriakopoulos 2005 In Defense of Knowledge Distillation for Task Incremental Learning and Its Application in 3D Object Detection .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2021.3072707 fatcat:qyphyzqxfrgg7dxdol4qamrdqu

Enabling Multimodal Human–Robot Interaction for the Karlsruhe Humanoid Robot

Rainer Stiefelhagen, Hazim Kemal Ekenel, Christian Fugen, Petra Gieselmann, Hartwig Holzapfel, Florian Kraft, Kai Nickel, Michael Voit, Alex Waibel
2007 IEEE Transactions on robotics  
We present our systems for spontaneous speech recognition, multimodal dialogue processing, and visual perception of a user, which includes localization, tracking, and identification of the user, recognition  ...  , as well on interactive learning of dialogue strategies.  ...  In particular, they would like to thank everyone who participated in data collections and user studies.  ... 
doi:10.1109/tro.2007.907484 fatcat:mstaffju6fdu5abbbvrkh56jkm
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