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.

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 for
Computer Vision & Cognitive
Robotics Research (icVision)
#bica 2012

2. our iCub
setup is for
manipulation

3. thanks to G. Metta and IIT for this picture
visual
perception

4. visual
perception
levels of abstraction
from 2D to 3D

5. three parts
Harding et al., GPTP 2012,
Leitner et al., IROS 2012 BICA 2012
Leitner et al., ICDL 2012

6. icVision
framework

7. icVisionCore

8. icVisionFilter
detecting
objects
Harding et al., GPTP 2012, Leitner et al., ICDL 2012

9. icVision 3D
localizing
objects
Leitner et al., IROS 2012

10. module
interaction

11. module
interaction

12. module
interaction

13. MoBeE
framework Frank et al., ICINCO, 2012.

14. future
work
layers of modules
eye-hand coordination
vision approach for reaching/grasping

15. thanks
for listening
juxi@idsia.ch http://Juxi.net/projects http://robotics.idsia.ch
videos at http://robotics.idsia.ch/im-clever/
and http://youtube.com/user/IDSIARobotics