Embodied Vision For Mobile Robots

Abstract

Purposive, Animate Vision or Active Perception emphasises the relationship between perception and the perceiver’s physiology, as well as that tasks performed must be considered in building intelligent visual systems [3]. However, such research generally considers low-level vision (e.g., segmentation, optical flow). There has been little consideration, to date, of the relationship between perception and the perceiver’s physiology for high-level vision. This chapter discusses philosophical aspects of what is required to apply of high-level vision when the perceiver has a real body, i.e., an autonomous mobile robot. This chapter also proposes a framework of embodied categorisation for high-level vision and interaction for mobile robots. This framework is subsequently used throughout this book.

I suddenly see the solution of a puzzle-picture. Before there were branches there; now there is a human shape. My visual impression has changed and now I recognize that it has not only shape and colour but also a quite particular ‘organization’.

L. Wittgenstein [238]