TOWARDS GRASP-ORIENTED VISUAL PERCEPTION FOR HUMANOID ROBOTS

2009 ◽  
Vol 06 (03) ◽  
pp. 387-434 ◽  
Author(s):  
JEANNETTE BOHG ◽  
CARL BARCK-HOLST ◽  
KAI HUEBNER ◽  
MARIA RALPH ◽  
BABAK RASOLZADEH ◽  
...  
Keyword(s):  
Visual Information ◽  
State Of The Art ◽  
Vision System ◽  
Robot Vision ◽  
Humanoid Robots ◽  
Specific Context ◽  
Reasoning System ◽  
Different Types ◽  
Distinct Property ◽  
Perception Action

A distinct property of robot vision systems is that they are embodied. Visual information is extracted for the purpose of moving in and interacting with the environment. Thus, different types of perception-action cycles need to be implemented and evaluated. In this paper, we study the problem of designing a vision system for the purpose of object grasping in everyday environments. This vision system is firstly targeted at the interaction with the world through recognition and grasping of objects and secondly at being an interface for the reasoning and planning module to the real world. The latter provides the vision system with a certain task that drives it and defines a specific context, i.e. search for or identify a certain object and analyze it for potential later manipulation. We deal with cases of: (i) known objects, (ii) objects similar to already known objects, and (iii) unknown objects. The perception-action cycle is connected to the reasoning system based on the idea of affordances. All three cases are also related to the state of the art and the terminology in the neuroscientific area.

SPATIOTEMPORAL CONTEXT INTEGRATION IN ROBOT VISION

2010 ◽  
Vol 07 (03) ◽  
pp. 357-377 ◽  
Author(s):  
RODRIGO PALMA-AMESTOY ◽  
JAVIER RUIZ-DEL-SOLAR ◽  
JOSÉ MIGUEL YÁÑEZ ◽  
PABLO GUERRERO
Keyword(s):  
Vision System ◽  
Spatial Coherence ◽  
Robot Vision ◽  
Active Vision ◽  
Humanoid Robots ◽  
Dynamic Environments ◽  
High Performing ◽  
Processing Power ◽  
Context Integration ◽  
Computational Resources

Robust vision in dynamic environments using limited processing power is one of the main challenges in robot vision. This is especially true in the case of biped humanoids that use low-end computers. Techniques such as active vision, context-based vision, and multi-resolution are currently in use to deal with these highly demanding requirements. Thus, having as main motivation the development of robust and high performing robot vision systems, which can operate in dynamic environments, with limited computational resources, we propose a spatiotemporal context integration framework that improves the perceptual capabilities of a given robot vision system. Furthermore, we try to link the vision, tracking, and self-localization problems using a context filter to improve the performance of all these parts together more than to improve them separately. This framework computes: (i) an estimation of the poses of visible and nonvisible objects using Kalman filters; (ii) the spatial coherence of each current detection with all other simultaneous detections and with all tracked objects; and (iii) the spatial coherence of each tracked object with all current detections. Using a Bayesian approach, we calculate the a-posteriori probabilities for each detected and tracked object, which is used in a filtering stage. We choose as a first application of this framework, the detection of static objects in the RoboCup Standard Platform League domain, where Nao humanoid robots are employed. The proposed system is validated in simulations and using real video sequences. In noisy environments, the system is able to decrease largely the number of false detections and to improve effectively the self-localization of the robot.

scholarly journals Intelligent Perception System of Robot Visual Servo for Complex Industrial Environment

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7121
Author(s):  
Yongchao Luo ◽  
Shipeng Li ◽  
Di Li
Keyword(s):  
Visual Information ◽  
Vision System ◽  
Industrial Robot ◽  
Robot Vision ◽  
Region Of Interest ◽  
Servo System ◽  
Experimental Result ◽  
Visual Servo ◽  
Industrial Environment ◽  
Perception System

Robot control based on visual information perception is a hot topic in the industrial robot domain and makes robots capable of doing more things in a complex environment. However, complex visual background in an industrial environment brings great difficulties in recognizing the target image, especially when a target is small or far from the sensor. Therefore, target recognition is the first problem that should be addressed in a visual servo system. This paper considers common complex constraints in industrial environments and proposes a You Only Look Once Version 2 Region of Interest (YOLO-v2-ROI) neural network image processing algorithm based on machine learning. The proposed algorithm combines the advantages of YOLO (You Only Look Once) rapid detection with effective identification of ROI (Region of Interest) pooling structure, which can quickly locate and identify different objects in different fields of view. This method can also lead the robot vision system to recognize and classify a target object automatically, improve robot vision system efficiency, avoid blind movement, and reduce the calculation load. The proposed algorithm is verified by experiments. The experimental result shows that the learning algorithm constructed in this paper has real-time image-detection speed and demonstrates strong adaptability and recognition ability when processing images with complex backgrounds, such as different backgrounds, lighting, or perspectives. In addition, this algorithm can also effectively identify and locate visual targets, which improves the environmental adaptability of a visual servo system

scholarly journals Adaptive Algorithm for the Quality Control of Braided Sleeving

2014 ◽  
Vol 6 ◽  
pp. 812060 ◽  
Author(s):  
Miha Pipan ◽  
Andrej Kos ◽  
Niko Herakovic
Keyword(s):  
Quality Control ◽  
Machine Vision ◽  
Adaptive Algorithm ◽  
Vision System ◽  
Robot Vision ◽  
Measuring Method ◽  
Industrial Applications ◽  
Visual Observation ◽  
Pipe Surface ◽  
Different Types

We describe the development and application of a robot vision based adaptive algorithm for the quality control of the braided sleeving of high pressure hydraulic pipes. With our approach, we can successfully overcome the limitations, such as low reliability and repeatability of braided quality, which result from the visual observation of the braided pipe surface. The braids to be analyzed come in different dimensions, colors, and braiding densities with different types of errors to be detected, as presented in this paper. Therefore, our machine vision system, consisting of a mathematical algorithm for the automatic adaptation to different types of braids and dimensions of pipes, enables the accurate quality control of braided pipe sleevings and offers the potential to be used in the production of braiding lines of pipes. The principles of the measuring method and the required equipment are given in the paper, also containing the mathematical adaptive algorithm formulation. The paper describes the experiments conducted to verify the accuracy of the algorithm. The developed machine vision adaptive control system was successfully tested and is ready for the implementation in industrial applications, thus eliminating human subjectivity.

Effect of sleep on memory for binding different types of visual information

2020 ◽  
Author(s):  
John J Shaw ◽  
Zhisen Urgolites ◽  
Padraic Monaghan
Keyword(s):  
Visual Information ◽  
Storage Capacity ◽  
Declarative Memory ◽  
Recognition Task ◽  
Forced Choice ◽  
Long Term Memory ◽  
Term Memory ◽  
Different Types ◽  
Types Of Information

Visual long-term memory has a large and detailed storage capacity for individual scenes, objects, and actions. However, memory for combinations of actions and scenes is poorer, suggesting difficulty in binding this information together. Sleep can enhance declarative memory of information, but whether sleep can also boost memory for binding information and whether the effect is general across different types of information is not yet known. Experiments 1 to 3 tested effects of sleep on binding actions and scenes, and Experiments 4 and 5 tested binding of objects and scenes. Participants viewed composites and were tested 12-hours later after a delay consisting of sleep (9pm-9am) or wake (9am-9pm), on an alternative forced choice recognition task. For action-scene composites, memory was relatively poor with no significant effect of sleep. For object-scene composites sleep did improve memory. Sleep can promote binding in memory, depending on the type of information to be combined.

Humans and humanoids

2018 ◽  
Author(s):  
Giorgio Metta
Keyword(s):  
Humanoid Robot ◽  
Robot Vision ◽  
Physical Space ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Biologically Inspired ◽  
Robot Interaction ◽  
Humanoid Robotics ◽  
Biomimetic Robot ◽  
Compliant Actuation

This chapter outlines a number of research lines that, starting from the observation of nature, attempt to mimic human behavior in humanoid robots. Humanoid robotics is one of the most exciting proving grounds for the development of biologically inspired hardware and software—machines that try to recreate billions of years of evolution with some of the abilities and characteristics of living beings. Humanoids could be especially useful for their ability to “live” in human-populated environments, occupying the same physical space as people and using tools that have been designed for people. Natural human–robot interaction is also an important facet of humanoid research. Finally, learning and adapting from experience, the hallmark of human intelligence, may require some approximation to the human body in order to attain similar capacities to humans. This chapter focuses particularly on compliant actuation, soft robotics, biomimetic robot vision, robot touch, and brain-inspired motor control in the context of the iCub humanoid robot.

scholarly journals How the Multiplicity of Suggested Information Affects the Behavior of a User in a Recommender System

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 741
Author(s):  
Yuseok Ban ◽  
Kyungjae Lee
Keyword(s):  
High Precision ◽  
Recommender System ◽  
Visual Information ◽  
Experimental Results ◽  
Supplementary Information ◽  
Digital Platform ◽  
Different Types ◽  
Types Of Information

Many researchers have suggested improving the retention of a user in the digital platform using a recommender system. Recent studies show that there are many potential ways to assist users to find interesting items, other than high-precision rating predictions. In this paper, we study how the diverse types of information suggested to a user can influence their behavior. The types have been divided into visual information, evaluative information, categorial information, and narrational information. Based on our experimental results, we analyze how different types of supplementary information affect the performance of a recommender in terms of encouraging users to click more items or spend more time in the digital platform.

scholarly journals Multiple objects tracking in the UAV system based on hierarchical deep high-resolution network

2021 ◽  
Author(s):  
Wei Huang ◽  
Xiaoshu Zhou ◽  
Mingchao Dong ◽  
Huaiyu Xu
Keyword(s):  
High Resolution ◽  
Object Tracking ◽  
High Performance ◽  
State Of The Art ◽  
Class Imbalance ◽  
Unified Framework ◽  
Multiple Objects ◽  
Tracking Process ◽  
Objects Tracking ◽  
Different Types

AbstractRobust and high-performance visual multi-object tracking is a big challenge in computer vision, especially in a drone scenario. In this paper, an online Multi-Object Tracking (MOT) approach in the UAV system is proposed to handle small target detections and class imbalance challenges, which integrates the merits of deep high-resolution representation network and data association method in a unified framework. Specifically, while applying tracking-by-detection architecture to our tracking framework, a Hierarchical Deep High-resolution network (HDHNet) is proposed, which encourages the model to handle different types and scales of targets, and extract more effective and comprehensive features during online learning. After that, the extracted features are fed into different prediction networks for interesting targets recognition. Besides, an adjustable fusion loss function is proposed by combining focal loss and GIoU loss to solve the problems of class imbalance and hard samples. During the tracking process, these detection results are applied to an improved DeepSORT MOT algorithm in each frame, which is available to make full use of the target appearance features to match one by one on a practical basis. The experimental results on the VisDrone2019 MOT benchmark show that the proposed UAV MOT system achieves the highest accuracy and the best robustness compared with state-of-the-art methods.

scholarly journals Fighting Together against the Pandemic: Learning Multiple Models on Tomography Images for COVID-19 Diagnosis

AI ◽  
2021 ◽  
Vol 2 (2) ◽  
pp. 261-273
Author(s):  
Mario Manzo ◽  
Simone Pellino
Keyword(s):  
Network Architecture ◽  
State Of The Art ◽  
Ensemble Classification ◽  
Effective Vaccine ◽  
Rt Pcr ◽  
Neural Network Architecture ◽  
Experimental Phase ◽  
Different Types ◽  
Polymerase Chain ◽  
Better Than

COVID-19 has been a great challenge for humanity since the year 2020. The whole world has made a huge effort to find an effective vaccine in order to save those not yet infected. The alternative solution is early diagnosis, carried out through real-time polymerase chain reaction (RT-PCR) tests or thorax Computer Tomography (CT) scan images. Deep learning algorithms, specifically convolutional neural networks, represent a methodology for image analysis. They optimize the classification design task, which is essential for an automatic approach with different types of images, including medical. In this paper, we adopt a pretrained deep convolutional neural network architecture in order to diagnose COVID-19 disease from CT images. Our idea is inspired by what the whole of humanity is achieving, as the set of multiple contributions is better than any single one for the fight against the pandemic. First, we adapt, and subsequently retrain for our assumption, some neural architectures that have been adopted in other application domains. Secondly, we combine the knowledge extracted from images by the neural architectures in an ensemble classification context. Our experimental phase is performed on a CT image dataset, and the results obtained show the effectiveness of the proposed approach with respect to the state-of-the-art competitors.

scholarly journals Industrial Robot Vision System

1983 ◽  
Vol 16 (20) ◽  
pp. 337-341
Author(s):  
V.M. Grishkin ◽  
F.M. Kulakov
Keyword(s):  
Vision System ◽  
Industrial Robot ◽  
Robot Vision
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