Advertisement

Two Modules of a Vision-Based Robotic System: Attention and Accumulation of Object Representations

  • Norbert Krüger
  • Daniel Wendorff
  • Gerald Sommer
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1998)

Abstract

In this paper, two modules of a behavior based robotic-vision system are described: An attention mechanism, and an accumulation algorithm to extract stable object representations within a perception- action cycle.

Keywords

Action Cycle Object Representation Image Patch Rigid Body Motion Stereo Image 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    M. Ackermann: Akkumulieren von Objektrepräsentationen im Wahrnehmungs-Handlungs Zyklus. Christian-Albrechts Universität zu Kiel, Institut für Informatik und Praktische Mathematik (Diplomarbeit), (2000). 225Google Scholar
  2. 2.
    W. Blaschke: Kinematik und Quaternionen. VEB Deutscher Verlag der Wissenschaften, (1960). 225Google Scholar
  3. 3.
    R. A. Brooks: Intelligence without reason. Internat. Joint Conf. on Artificial Intelligence, (1991) 569–595. 224Google Scholar
  4. 4.
    J. Bruske, G. Sommer: Dynamic cell structure learns perfectly topology preserving map. Neural Computation, 7 (1985) 845–865. 225CrossRefGoogle Scholar
  5. 5.
    T. Bülow, G. Sommer: Quaternionic gabor filters for local structure classiffication. In: A. K. Jain, S. Venkatesh, and B. C. Lovell, Eds., 14th Internat. Conf. on Pattern Recognition, ICPR’98, vol. 1, Brisbane, Australia, August 16–20, IEEE Computer Society, (1998) 808–810. 222Google Scholar
  6. 6.
    B. Fritzke: Growing cell structures-a self-organizing network for unsupervised and supervised learning. Neural Networks, 7 (1994) 1441–1460. 225CrossRefGoogle Scholar
  7. 7.
    S. Geman, E. Bienenstock, R. Doursat: Neural networks and the bias/variance dilemma. Neural Computation, 4 (1995) 1–58. 224CrossRefGoogle Scholar
  8. 8.
    B. Jähne (Ed.): Digitale Bildverarbeitung. Springer, (1997). 224Google Scholar
  9. 9.
    J.J Koenderink: Wechsler’s vision: An essay review of computational vision by Harry Wechsler. Ecological Psychology, 4 (1992) 121–128. 219, 225CrossRefGoogle Scholar
  10. 10.
    N. Krüger: Visual Learning with a priori constraints. PhD Thesis, Shaker Verlag, Germany, (1998). 224Google Scholar
  11. 11.
    N. Krüger, G. Peters: Orassyll: Object recognition with autonomously learned and sparse symbolic representations based on metrically organized local line detectors. Computer Vision and Image Understanding, 77 (2000). 224Google Scholar
  12. 12.
    M. Lades, J. C. Vorbrüggen, J. Buhmann, J. Lange, C. von der Malsburg, R. P. Würtz, W. Konen: Distortion invariant object recognition in the dynamik link architecture. IEEE Trans. on Computers, 42 (1993) 300–311. 222CrossRefGoogle Scholar
  13. 13.
    KiViGraP (Homepage of the Kieler Vision and Grasping Project). http://www.ks.informatik.uni-kiel.de/~kivi/kivi.html. 221
  14. 14.
    M. Pötzsch, N. Krüger, C. von der Malsburg: A procedure for automatic analysis of images and image sequences based on two-dimensional shape primitives. U. S. Patent Application, (1999). 224Google Scholar
  15. 15.
    B. Rosenhahn, N. Krüger, T. Rabsch, G. Sommer: Automatic tracking with a novel pose estimation algorithm. In: Proceed. Robot Vision 2001, Auckland, (2001). 226Google Scholar
  16. 16.
    P. Schmidt: Entwicklung und Aufbau von taktiler Sensorik für eine Roboterhand. Institut für Neuroinformatik Bochum (Internal Report), (2000). 219Google Scholar
  17. 17.
    G. Sommer: Algebraic aspects of designing behaviour based systems. In: G. Sommer and J. J. Koenderink, Eds., Algebraic Frames for the Perception and Action Cycle, Springer, (1997) 1–28. 219, 225Google Scholar
  18. 18.
    D. Wendor.: Diplomarbeit (in progress). 222Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Norbert Krüger
    • 1
  • Daniel Wendorff
    • 1
  • Gerald Sommer
    • 1
  1. 1.Lehrstuhl für Kognitive Systeme, Institut für InformatikChristian-Albrechts-Universität zu KielKielGermany

Personalised recommendations