Towards Spatial Perception: Learning to Locate Objects from Vision #robotDoC

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Juxi Leitner

Technologie Formation

iCub

thanks to G. Metta, IIT and U.Plymouth for their pictures

Monday, September 10, 2012

our iCub
setup is for
manipulation
Monday, September 10, 2012

thanks to G. Metta and IIT for this picture

visual
perception

Monday, September 10, 2012

detecting
objects
Harding et al., GPTP 2012, Leitner et al., ICDL 2012
Monday, September 10, 2012

Image credit: NASA

also works for
detecting rocks
on Mars
Leitner et al., iSAIRAS 2012
Monday, September 10, 2012

icVision
framework Leitner et al., BICA 2012

Monday, September 10, 2012

three parts
GPTP2012, ICDL2012(?) BICA 2012

Monday, September 10, 2012

locate
objects
Monday, September 10, 2012

current
localisation approaches
Monday, September 10, 2012

learning
approach

+

Monday, September 10, 2012

learning
setup

Monday, September 10, 2012

spatial perception
neural network
Monday, September 10, 2012

spatial perception
genetic programming
Monday, September 10, 2012

x = 17.81 − 0.01906 v1 + 0.1527 v4 + 0.1378 v7 +
0.01108 v10 − 0.0296 v11 − 0.1207 v12

y = 1.124224045 + 0.1295920897 v10 +
0.1156011386 v8 + 0.01695234993 v0

spatial perception
genetic programming
Monday, September 10, 2012

relative
errors
Monday, September 10, 2012

transferring
spatial perception
Monday, September 10, 2012

future
work

automate the learning (IROS 2012)
different spatial representations
“intrinsic motivation” learning
online, continuous learning
eye-hand coordination

Monday, September 10, 2012

thanks
for listening

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

Monday, September 10, 2012

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Towards Spatial Perception: Learning to Locate Objects from Vision #robotDoC

1. Jürgen ’Juxi’ Leitner S. Harding, M. Frank, A. Förster, J. Schmidhuber istituto dalle molle di studi sull’intelligenza artiﬁciale università della svizzera italiana idsia / usi / supsi towards spatial perception learning to locate objects from vision #robotdoc 2012 Monday, September 10, 2012

2. iCub thanks to G. Metta, IIT and U.Plymouth for their pictures Monday, September 10, 2012

3. our iCub setup is for manipulation Monday, September 10, 2012

4. thanks to G. Metta and IIT for this picture visual perception Monday, September 10, 2012

5. three parts Monday, September 10, 2012

6. detecting objects Harding et al., GPTP 2012, Leitner et al., ICDL 2012 Monday, September 10, 2012

7. Image credit: NASA also works for detecting rocks on Mars Leitner et al., iSAIRAS 2012 Monday, September 10, 2012

8. detecting objects Harding et al., GPTP 2012, Leitner et al., ICDL 2012 Monday, September 10, 2012

9. icVision framework Leitner et al., BICA 2012 Monday, September 10, 2012

10. three parts GPTP2012, ICDL2012(?) BICA 2012 Monday, September 10, 2012

11. locate objects Monday, September 10, 2012

12. current localisation approaches Monday, September 10, 2012

13. learning approach + Monday, September 10, 2012

14. learning setup Monday, September 10, 2012

15. spatial perception neural network Monday, September 10, 2012

16. spatial perception genetic programming Monday, September 10, 2012

17. x = 17.81 − 0.01906 v1 + 0.1527 v4 + 0.1378 v7 + 0.01108 v10 − 0.0296 v11 − 0.1207 v12 y = 1.124224045 + 0.1295920897 v10 + 0.1156011386 v8 + 0.01695234993 v0 spatial perception genetic programming Monday, September 10, 2012

18. relative errors Monday, September 10, 2012

19. transferring spatial perception Monday, September 10, 2012

20. future work automate the learning (IROS 2012) different spatial representations “intrinsic motivation” learning online, continuous learning eye-hand coordination Monday, September 10, 2012

21. thanks for listening juxi@idsia.ch http://Juxi.net/projects Monday, September 10, 2012