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

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

  1. 1. 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
  2. 2. iCub thanks to G. Metta, IIT and U.Plymouth for their picturesMonday, September 10, 2012
  3. 3. our iCub setup is for manipulationMonday, September 10, 2012
  4. 4. thanks to G. Metta and IIT for this picture visual perceptionMonday, September 10, 2012
  5. 5. three partsMonday, September 10, 2012
  6. 6. detecting objects Harding et al., GPTP 2012, Leitner et al., ICDL 2012Monday, September 10, 2012
  7. 7. Image credit: NASA also works for detecting rocks on Mars Leitner et al., iSAIRAS 2012Monday, September 10, 2012
  8. 8. detecting objects Harding et al., GPTP 2012, Leitner et al., ICDL 2012Monday, September 10, 2012
  9. 9. icVision framework Leitner et al., BICA 2012Monday, September 10, 2012
  10. 10. three parts GPTP2012, ICDL2012(?) BICA 2012Monday, September 10, 2012
  11. 11. locate objectsMonday, September 10, 2012
  12. 12. current localisation approachesMonday, September 10, 2012
  13. 13. learning approach +Monday, September 10, 2012
  14. 14. learning setupMonday, September 10, 2012
  15. 15. spatial perception neural networkMonday, September 10, 2012
  16. 16. spatial perception genetic programmingMonday, September 10, 2012
  17. 17. 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
  18. 18. relative errorsMonday, September 10, 2012
  19. 19. transferring spatial perceptionMonday, September 10, 2012
  20. 20. future work automate the learning (IROS 2012) different spatial representations “intrinsic motivation” learning online, continuous learning eye-hand coordinationMonday, September 10, 2012
  21. 21. thanks for listening juxi@idsia.ch http://Juxi.net/projectsMonday, September 10, 2012

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