autonomous learning of robust visual object detection & identification on a humanoid...

#icdl/epirob 2012

autonomous learning of robust visual object

detection & identificationon a humanoid

S. Harding, P. ChandrashekhariahM. Frank, G. Spina,

A. Förster, J. Triesch, J. Schmidhuber

idsia / usi / supsi, machine intelligence, fias

Jürgen ’Juxi’ Leitner

manipulation

our iCubsetup is for

perceptionvisual

thanks to G. Metta and IIT for this picture

challengethe

IDSIA’s three

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

parts

cv approachescurrent

objectsdetecting

Harding et al., GPTP 2012

approachlearningour

cartesian genetic

programming

+ min dilate avg INP INP INP

+ min dilate avg INP INP INP

3""#2""#1"4.3"""""

Func,on"Connec,on"1"Connec,on"2"A"real"number" cartesian

genetic programming

detection

icImage GreenTeaBoxDetector::runFilter() { ! icImage node0 = InputImages[6];! icImage node1 = InputImages[1];! icImage node2 = node0.absdiff(node1);! icImage node5 = node2.SmoothBilateral(11);! icImage node12 = InputImages[0];! icImage node16 = node12.Sqrt();! icImage node33 = node16.erode(6);! icImage node34 = node33.log();! icImage node36 = node34.min(node5);! icImage node49 = node36.Normalize();

//cleanup ... icImage out = node49.threshold(230.7218f);! return out; }

detect

detect

approachsupervised learning

BUT:

segmentationfeature

saliencymap

collaborationFIAS

segmentationpre

approachcombined

MoBeEframework Frank et al., ICINCO, 2012.

salient object detection

conclusion

rough feature-based segmentationautomatic training set generation

+

=

cgp-based, robust filter-learningfor

for listeningthanks

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

video at http://robotics.idsia.ch/im-clever/