artificial neural networks for spatial perception: towards visual object localisation in humanoid...

#ijcnn 2013

ANNs forspatial perception

towards visual object localisation in humanoids

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

manipulation

our iCubsetup is for

object manipulationtowards learning

http://robotics.idsia.ch/

MoBeEframework Frank et al., 2012.

MoBeE

generationmotionStollenga et al, 2013

Sh

ak

ey 2

01

3 W

inn

er

perceptionvisual

thanks to G. Metta and IIT for this picture

objectsdetecting

Harding et al., 2013Leitner et al., ICDL 2012, ARS 2012, BICA 2012, CEC 2013

localisation approachescurrent

approachlearning=>

transferringspatial perception

setuplearning

trainingset

9DOF

iCubbounding box

6 per eye Carte

sian

Coor

dinate

s

..

.

spatial perception neural network

...

9DO

FiC

ubbo

undi

ng b

ox6

per e

ye

Cart

esian

Coor

dina

tes

fully

con

nect

ed

fully

con

nect

ed

...

hidden layerneurons

resultsANN

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resultsANN

workfuture

eye-hand coordination

different spatial representations

online, continuous learning

for listeningthanks

juxi@idsia.ch http://Juxi.net/projects