Jürgen ’Juxi’ Leitner            S. Harding, M. Frank, A. Förster, J. Schmidhuber            istituto dalle molle di studi...
our iCub setup is formanipulation
thanks to G. Metta and IIT for this picture                                                   visual                      ...
visual                        perceptionlevels of abstractionfrom 2D to 3D
three partsHarding et al., GPTP 2012,                               Leitner et al., IROS 2012   BICA 2012 Leitner et al., ...
icVisionframework
icVisionCore
icVisionFilterdetecting  objects            Harding et al., GPTP 2012, Leitner et al., ICDL 2012
icVision 3Dlocalizing  objects  Leitner et al., IROS 2012
moduleinteraction
moduleinteraction
moduleinteraction
MoBeEframework   Frank et al., ICINCO, 2012.
future work layers of modules eye-hand coordination vision approach for reaching/grasping
thanks                                                 for listeningjuxi@idsia.ch    http://Juxi.net/projects   http://rob...
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An Integrated, Modular Framework for Computer Vision & Cognitive Robotics Research (icVision) #bica2012

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We present an easy-to-use, modular framework for performing computer vision related tasks in support of cognitive robotics research on the iCub humanoid robot.
The aim of this biologically inspired, bottom-up architecture is to facilitate research towards visual perception and cognition processes, especially their influence on robotic object manipulation and environment interaction.

The icVision framework described provides capabilities for detection of objects in the 2D image plane and locate those objects in 3D space to facilitate the creation of a world model.

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An Integrated, Modular Framework for Computer Vision & Cognitive Robotics Research (icVision) #bica2012

  1. 1. Jürgen ’Juxi’ Leitner S. Harding, M. Frank, A. Förster, J. Schmidhuber istituto dalle molle di studi sull’intelligenza artificiale università della svizzera italiana idsia / usi / supsi An Integrated, Modular Framework forComputer Vision & CognitiveRobotics Research (icVision) #bica 2012
  2. 2. our iCub setup is formanipulation
  3. 3. thanks to G. Metta and IIT for this picture visual perception
  4. 4. visual perceptionlevels of abstractionfrom 2D to 3D
  5. 5. three partsHarding et al., GPTP 2012, Leitner et al., IROS 2012 BICA 2012 Leitner et al., ICDL 2012
  6. 6. icVisionframework
  7. 7. icVisionCore
  8. 8. icVisionFilterdetecting objects Harding et al., GPTP 2012, Leitner et al., ICDL 2012
  9. 9. icVision 3Dlocalizing objects Leitner et al., IROS 2012
  10. 10. moduleinteraction
  11. 11. moduleinteraction
  12. 12. moduleinteraction
  13. 13. MoBeEframework Frank et al., ICINCO, 2012.
  14. 14. future work layers of modules eye-hand coordination vision approach for reaching/grasping
  15. 15. thanks for listeningjuxi@idsia.ch http://Juxi.net/projects http://robotics.idsia.ch videos at http://robotics.idsia.ch/im-clever/ and http://youtube.com/user/IDSIARobotics

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