Titlebook: Visual Perception for Manipulation and Imitation in Humanoid Robots; Pedram Azad Book 2009 Springer-Verlag Berlin Heidelberg 2009 Cognitve

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Conclusion,s proved their online applicability for manipulation using visual servoing (see [Vahrenkamp et al., 2008]), and imitation (see [Do et al., 2008]) in numerous demonstrations with the humanoid robot ARMAR-III.

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State of the Art in Object Recognition and Pose Estimation,is the recognition and pose estimation of objects. In the following, an overview of existing methods and algorithms that are relevant and useful for humanoid robots is given..A humanoid robot system designed for grasping of objects in a real-world scenario sets the highest requirements to object rec

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State of the Art in Human Motion Capture,s or creatures from science-fiction movies are nowadays often created by mapping human motion to an animated figure. For this purpose, the motion must be captured in a way that allows for mapping of the observed motion to the target kinematic model. The VICON system, a marker-based tracking system u

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Fundamentals of Image Processing,ocessing is given in [Azad et al., 2008]..The utilized camera model is introduced in Section 4.1. Common segmentation techniques for robotic vision applications are briefly summarized in Section 4.2. In Section 4.3, correlation techniques are introduced, which are used by the proposed object recogni

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Stereo-Based Object Recognition and Pose Estimation System,objects that can be segmented globally and are defined by their shape only, and the other for textured objects, which can be recognized on the basis of point features. The relation to state-of-the-art systems will be explained at the beginning of the Sections 6.1 and 6.2, respectively..In both subsy

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