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Combined visual-acoustic grasping for humanoid robots

: Milighetti, G.; Emter, T.; Kuntze, H.-B.; Bechler, D.; Kroschel, K.


Hanebeck, U.D. ; Institute of Electrical and Electronics Engineers -IEEE-; Verein Deutscher Ingenieure e.V. -VDI-, Düsseldorf:
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2006. CD-ROM : 3-6 September, 2006, Heidelberg, Germany; Proceedings
New York, NY: IEEE, 2006
ISBN: 1-4244-0567-X
6 S.
International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) <2006, Heidelberg>
Fraunhofer IITB ( IOSB) ()

This paper presents an efficient approach for the combined audio-visual localization of a fallen object. The localization algorithm is incorporated into a multi-sensor robotic platform to supervise and to adapt dynamically the discrete plan of a robot performing a pick-and-place task. Initial audio position estimates of the fallen object are delivered by means of time-delay estimates in two microphone pairs. For a successful operation even in acoustically adverse environments, reliability criteria for the time-delay estimates are introduced. These audio position estimates are improved by visual data using the disparity information in stereo images of a stereo-camera system. The performance of the audio-visual localization algorithm is evaluated for real data in a common office environment. The proposed real-time system shows robustness and accuracy localizing with ease a fallen wooden brick.