Chapter

Biologically Inspired Cognitive Architectures 2012

Volume 196 of the series Advances in Intelligent Systems and Computing pp 205-210

An Integrated, Modular Framework for Computer Vision and Cognitive Robotics Research (icVision)

  • Jürgen LeitnerAffiliated withDalle Molle Institute for Artificial Intelligence (IDSIA), USI/SUPSI Email author 
  • , Simon HardingAffiliated withMachine Intelligence, Ltd
  • , Mikhail FrankAffiliated withDalle Molle Institute for Artificial Intelligence (IDSIA), USI/SUPSI
  • , Alexander FörsterAffiliated withDalle Molle Institute for Artificial Intelligence (IDSIA), USI/SUPSI
  • , Jürgen SchmidhuberAffiliated withDalle Molle Institute for Artificial Intelligence (IDSIA), USI/SUPSI

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Abstract

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.