Titlebook: Visual Perception for Humanoid Robots; Environmental Recogn David Israel González Aguirre Book 2019 Springer Nature Switzerland AG 2019 Cog

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1867-4925 el-based environmental visual perception for humanoid robotsThis 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 environ

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Introduction,obots. Concretely, the coupling of model-based visual environmental object recognition with model-based visual global self-localization and its interrelated data handling are the ultimate goals to be achieved. These skills require novel methods to overcome the current sensing and matching limitation

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World Model Representation,esentation. The indexing structures and query mechanisms necessary for recognition (used during the visual assertion queries and visual global self-localization) are described in detailed presentation of the transformations from standard CAD models (inform of interchange files) to the proposed senso

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Environmental Visual Object Recognition,tives is provided. The synergistic cue integration (homogeneity, edge and phase rim) for extraction of 2D geometric-primitives is presented. The consolidation of 3D geometric-primitives by calibrated stereo vision is introduced. The effectiveness and precision of the proposed method are experimental

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World Model Representation,r-independent graph and geometric representation is provided. This is conveniently illustrated with examples of the experimental scenarios. The evaluation of the developed representation and querying is provided.

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