Abstract
We present a portable active binocular robot vision architecture that integrates a number of visual behaviours. This vision architecture inherits the abilities of vergence, localisation, recognition and simultaneous identification of multiple target object instances. To demonstrate the portability of our vision architecture, we carry out qualitative and comparative analysis under two different hardware robotic settings, feature extraction techniques and viewpoints. Our portable active binocular robot vision architecture achieved average recognition rates of 93.5 % for fronto-parallel viewpoints and, 83 % percentage for anthropomorphic viewpoints, respectively.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsNotes
- 1.
http://code.google.com/p/msocket/ (verified on 4 March, 2016).
- 2.
https://pypi.python.org/pypi/pymatlab (verified on 4 March, 2016).
- 3.
All 7 scenes can be accessed at http://www.gerardoaragon.com/taros2016.html.
- 4.
All 3 scenes can be accessed at http://www.gerardoaragon.com/taros2016.html.
References
Alcantarilla, P.F., Bartoli, A., Davison, A.J.: KAZE features. In: Fitzgibbon, A., Lazebnik, S., Perona, P., Sato, Y., Schmid, C. (eds.) ECCV 2012, Part VI. LNCS, vol. 7577, pp. 214–227. Springer, Heidelberg (2012)
Aragon-Camarasa, G., Siebert, J.P.: A hierarchy of visual behaviours in an active binocular robot. In: Kyriacou, T., Nehmzow, U., Melhuish, C., Witkowski, M. (eds.) Towards Autonomous Robotic Systems, TAROS 2009, pp. 88–95 (2009)
Aragon-Camarasa, G., Fattah, H., Siebert, J.P.: Towards a unified visual framework in a binocular active robot vision system. Robot. Auton. Syst. 58(3), 276–286 (2010)
Aragon-Camarasa, G., Siebert, J.P.: Unsupervised clustering in Hough space for recognition of multiple instances of the same object in a cluttered scene. Pattern Recogn. Lett. 31(11), 1274–1284 (2010)
Arbib, M., Metta, G., der Smagt, P.: Neurorobotics: from vision to action. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, pp. 1453–1480. Springer, Heidelberg (2008)
Aydemir, A., Jensfelt, P.: Exploiting and modeling local 3d structure for predicting object locations. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3885–3892, October 2012
Ballard, D.H.: Animate vision. Artif. Intell. 48(1), 57–86 (1991)
Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Comput. Vis. Image Underst. 110(3), 346–359 (2008). http://dx.doi.org/10.1016/j.cviu.2007.09.014
Chen, S., Li, Y., Kwok, N.M.: Active vision in robotic systems: a survey of recent developments. Int. J. Robot. Res. 30(11), 1343–1377 (2011)
Collet, A., Martinez, M., Srinivasa, S.S.: The moped framework: object recognition and pose estimation for manipulation. Int. J. Robot. Res. 30(10), 1284–1306 (2011)
Dogar, M., Koval, M., Tallavajhula, A., Srinivasa, S.: Object search by manipulation. Auton. Rob. 36(1–2), 153–167 (2014)
Lowe, D.G.: Distinctive image features from scale-invariant keypoints. Int. J. Comput. Vis. 60(2), 91–110 (2004)
Ma, J., Chung, T.H., Burdick, J.: A probabilistic framework for object search with 6-DOF pose estimation. Int. J. Robot. Res. 30(10), 1209–1228 (2011)
Matas, J., Chum, O., Urban, M., Pajdla, T.: Robust wide baseline stereo from maximally stable extremal regions. In. British Machine Vision Conference, vol. 1, pp. 384–393 (2002)
Meger, D., Gupta, A., Little, J.J.: Viewpoint detection models for sequential embodied object category recognition. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 5055–5061 (2010)
Murphy, R., Mali, A.: Lessons learned in integrating sensing into autonomous mobile robot architectures. J. Exp. Theoret. Artif. Intell. 9(2), 191–209 (1997)
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: an open-source robot operating system. In: ICRA Workshop on Open Source Software, vol. 3, p. 5 (2009)
Rasolzadeh, B., Bjorkman, M., Huebner, K., Kragic, D.: An active vision system for detecting, fixating and manipulating objects in the real world. Int. J. Robot. Res. 29(2–3), 133–154 (2010)
Sun, L., Aragon-Camarasa, G., Rogers, S., Siebert, J.P.: Accurate garment surface analysis using an active stereo robot head with application to dual-arm flattening. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 185–192, May 2015
Sun, L., Aragon-Camarasa, G., Rogers, S., Siebert, J.: Accurate garment surface analysis using an active stereo robot head with application to dual-arm flattening. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 185–192, May 2015
Wolfe, B.A., Whitney, D.: Saccadic remapping of object-selective information. Attention, Percept. Psychophys. 77(7), 2260–2269 (2015)
Wurtz, R.H., Joiner, W.M., Berman, R.A.: Neuronal mechanisms for visual stability: progress and problems. Philos. Trans. Royal Soc. London. Series B, Biolog. Sci. 366(1564), 492–503 (2011)
Acknowledgements
This work was partially supported by the Programme Al\(\beta \)an, the European Union Programme (grant number E07D400872MX) and CONACYT-Mexico (grant number 207703).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Khan, A., Aragon-Camarasa, G., Siebert, J.P. (2016). A Portable Active Binocular Robot Vision Architecture for Scene Exploration. In: Alboul, L., Damian, D., Aitken, J. (eds) Towards Autonomous Robotic Systems. TAROS 2016. Lecture Notes in Computer Science(), vol 9716. Springer, Cham. https://doi.org/10.1007/978-3-319-40379-3_22
Download citation
DOI: https://doi.org/10.1007/978-3-319-40379-3_22
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-40378-6
Online ISBN: 978-3-319-40379-3
eBook Packages: Computer ScienceComputer Science (R0)