Towards stratified model-based environmental visual perception for humanoid robots

0167-8655/$ see front matter 2010 Elsevier B.V. A doi:10.1016/j.patrec.2010.09.028 ⇑ Corresponding author. Tel.: +49 721 608 8489; fa E-mail addresses: [email protected] (D. Gonza (T. Asfour), [email protected] (R. Dillmann). An autonomous environmental visual perception approach for humanoid robots is presented. The proposed framework exploits the available model information and the context acquired during global localization by establishing a vision-model coupling in order to overcome the limitations of purely data-driven approaches in object recognition and surrounding status assertion. The exploitation of the model-vision coupling through the properceptive components is the key element to solve complex visual assertion-queries with proficient performance. An experimental evaluation with the humanoid robot ARMAR-IIIa is presented. 2010 Elsevier B.V. All rights reserved.