Accumulation of object representations utilising interaction of robot action and perception |
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| Affiliation: | 1. Student Research Committee, Faculty of Medical Sciences, Babol University of Medical Sciences, Babol, Mazandaran, Iran;2. Cellular and Molecular Biology Research Center, Health Research Institute, Babol University of Medical Sciences, Babol, Mazandaran, Iran;3. Neuroscience Research Center, Health Research Institute, Babol University of Medical Sciences, Babol, Mazandaran, Iran;4. Department of Pharmacology, Faculty of Medical Sciences, Babol University of Medical Sciences, Babol, Mazandaran, Iran;5. Department of Physiology, School of Medical Sciences, Tarbiat Modares University, Tehran, Iran;1. Lunenfeld-Tanenbaum Research Institute, Mount Sinai Hospital, Toronto, ON, Canada M5G 1X5;2. Department of Molecular Genetics, University of Toronto, Toronto, ON, Canada M5S 1A8;3. Department of Physiology, University of Toronto, Toronto, ON, Canada M5S 1A8;4. Center for Brain Science, Department of Physics, Harvard University, Cambridge, MA 02138, United States;1. Department of Electrical Engineering and Computer Science, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, 42988, South Korea;2. Information and Communication Engineering Research Center, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, 42988, South Korea;1. Parkland Health & Hospital System, Dallas, TX;2. Department of Psychiatry, The University of Texas Southwestern Medical Center, Dallas, TX;3. Office of the Clinical Director, National Institute of Mental Health, National Institutes of Health, Bethesda, MD;4. Abigail Wexner Research Institute at Nationwide Children''s Hospital, Columbus, OH;5. Pediatrics, Psychiatry & Behavioral Health, The Ohio State University College of Medicine, Columbus, OH;1. Institute of Technical Thermodynamics and Center of Smart Interfaces, Technische Universität Darmstadt, 64287 Darmstadt, Germany;2. Research Interfacial Technology, Evonik Nutrition & Care GmbH, 45127 Essen, Germany;3. Physics at Interfaces, Max Planck Institute for Polymer Research, 55128 Mainz, Germany |
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| Abstract: | We introduce a robotic-vision system which is able to extract object representations autonomously utilising a tight interaction of visual perception and robotic action within a perception action cycle Ecological Psychology 4 (1992) 121; Algebraic Frames for the Perception and Action Cycle, 1997, 1]. Controlled movement of the object grasped by the robot enables us to compute the transformations of entities which are used to represent aspects of objects and to find correspondences of entities within an image sequence.A general accumulation scheme allows to acquire robust information from partly missing information extracted from single frames of an image sequence. Here we use this scheme with a preprocessing stage in which 3D-line segments are extracted from stereo images. However, the accumulation scheme can be used with any kind of preprocessing as long as the entities used to represent objects can be brought to correspondence by certain equivalence relations such as ‘rigid body motion’.We show that an accumulated representation can be applied within a tracking algorithm. The accumulation scheme is an important module of a vision based robot system on which we are currently working. In this system, objects are planned to be represented by different visual and tactile entities. The object representations are going to be learned autonomously. We discuss the accumulation scheme in the context of this project. |
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