3D Estimation and Fully Automated Learning of Eye-Hand Coordination in Humanoid Robots

This work deals with the problem of 3D estimation and eye-hand calibration in humanoid robots. Using the iCub humanoid robot, we developed a fully automatic procedure based on optimization techniques that does not require any human supervision. The end-effector of the humanoid robot is automatically detected in the stereo images. We demonstrate the usefulness and the effectiveness of the proposed system in two typical robotic scenarios: (1) object grasping; (2) 3D scene reconstruction. Fanello S.R., Pattac