#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
