Towards Spatial Perception: Learning to Locate Objects from Vision #robotDoC

#robotdoc 2012

towardsspatial perception

learning to locate objects from vision

S. Harding, M. Frank, A. Förster, J. Schmidhuber

istituto dalle molle di studi sull’intelligenza artificialeuniversità della svizzera italiana

idsia / usi / supsi

Jürgen ’Juxi’ Leitner

Monday, September 10, 2012

iCub

thanks to G. Metta, IIT and U.Plymouth for their pictures


manipulation

our iCubsetup is for


perceptionvisual

thanks to G. Metta and IIT for this picture


three parts


objectsdetecting

Harding et al., GPTP 2012, Leitner et al., ICDL 2012


Image credit: NASA

on Marsdetecting rocks

Leitner et al., iSAIRAS 2012

also works for


objectsdetecting

Harding et al., GPTP 2012, Leitner et al., ICDL 2012


frameworkicVision

Leitner et al., BICA 2012


three partsGPTP2012, ICDL2012(?) BICA 2012


locateobjects


localisation approachescurrent


approachlearning

+


setuplearning


spatial perception neural network


genetic programmingspatial perception


genetic programmingspatial perception

x = 17.81 − 0.01906 v1 + 0.1527 v4 + 0.1378 v7 + 0.01108 v10 − 0.0296 v11 − 0.1207 v12

y = 1.124224045 + 0.1295920897 v10 + 0.1156011386 v8 + 0.01695234993 v0


errorsrelative


transferringspatial perception


automate the learning (IROS 2012)different spatial representations

workfuture

eye-hand coordination

“intrinsic motivation” learningonline, continuous learning


for listeningthanks

[email protected] http://Juxi.net/projects


mailto:[email protected]

mailto:[email protected]

http://Juxi.net/projects

http://Juxi.net/projects

Towards Spatial Perception: Learning to Locate Objects from Vision #robotDoC

Technology

Transcript of Towards Spatial Perception: Learning to Locate Objects from Vision #robotDoC