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Knowledge-driven opto-acoustic scene analysis based on an object-oriented world modelling approach for humanoid robots

: Kühn, B.; Belkin, A.; Swerdlow, A.; Machmer, T.; Beyerer, J.; Kroschel, K.

Postprint urn:nbn:de:0011-n-1515703 (801 KByte PDF)
MD5 Fingerprint: f74798efe4fa1c81fdf7d4aa7500d95b
Erstellt am: 2.2.2011

Informationstechnische Gesellschaft -ITG-, Information Technology Society of VDE; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-:
ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics und ROBOTIK 2010, 6th German Conference on Robotics : 7-9 June 2010 - Parallel to AUTOMATICA
Berlin: VDE-Verlag, 2010
ISBN: 978-3-8007-3273-9
International Symposium on Robotics (ISR) <41, 2010, Munich>
German Conference on Robotics (ROBOTIK) <6, 2010, Munich>
Internationale Fachmesse für Automation und Mechatronik (Automatica) <4, 2010, Munich>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

The perception of the environment using opto-acoustic scene analysis techniques is an extremely important and challenging task for humanoid robots. Thereby, the acquisition of visual and acoustic information provides the basis of the perception and enables the robot to interact with humans and to assist in everyday tasks. Another step is the exploration that allows the robot to actively gather knowledge about the environment. Hereby, the object-oriented world modeling guarantees the maintenance of permanent situation awareness, which is important for opto-acoustic scene analysis, cognition and planning.
Taking these considerations into account, this paper presents a concept for the knowledge-driven opto-acoustic scene analysis based on an object-oriented modeling approach. The focus of the paper is put on both, formal conditions and a practical realization of an integrated system.