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

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

  • Jürgen ’Juxi’ Leitner S. Harding, M. Frank, A. Förster, J. Schmidhuber istituto dalle molle di studi sull’intelligenza artificiale università della svizzera italiana idsia / usi / supsi towards spatial perception learning to locate objects from vision #robotdoc 2012Monday, September 10, 2012
  • iCub thanks to G. Metta, IIT and U.Plymouth for their picturesMonday, September 10, 2012
  • our iCub setup is for manipulationMonday, September 10, 2012
  • thanks to G. Metta and IIT for this picture visual perceptionMonday, September 10, 2012
  • three partsMonday, September 10, 2012
  • detecting objects Harding et al., GPTP 2012, Leitner et al., ICDL 2012Monday, September 10, 2012
  • Image credit: NASA also works for detecting rocks on Mars Leitner et al., iSAIRAS 2012Monday, September 10, 2012
  • detecting objects Harding et al., GPTP 2012, Leitner et al., ICDL 2012Monday, September 10, 2012
  • icVision framework Leitner et al., BICA 2012Monday, September 10, 2012
  • three parts GPTP2012, ICDL2012(?) BICA 2012Monday, September 10, 2012
  • locate objectsMonday, September 10, 2012
  • current localisation approachesMonday, September 10, 2012
  • learning approach +Monday, September 10, 2012
  • learning setupMonday, September 10, 2012
  • spatial perception neural networkMonday, September 10, 2012
  • spatial perception genetic programmingMonday, September 10, 2012
  • 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 spatial perception genetic programmingMonday, September 10, 2012
  • relative errorsMonday, September 10, 2012
  • transferring spatial perceptionMonday, September 10, 2012
  • future work automate the learning (IROS 2012) different spatial representations “intrinsic motivation” learning online, continuous learning eye-hand coordinationMonday, September 10, 2012
  • thanks for listening juxi@idsia.ch http://Juxi.net/projectsMonday, September 10, 2012