Is it my body? Body extraction from uninterpreted sensory data based on the invariance of multiple sensory attributes
Is it my body? Body extraction from uninterpreted sensory data based on the invariance of multiple sensory attributes
复制标题
是我的身体吗？
DOI：
10.1109/iros.2004.1389756
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
M. Asada
中科院分区：
文献类型：
--
作者：
Y. Yoshikawa;Yoshiki Tsuji;K. Hosoda;M. Asada
在未解释的感官数据中找到身体是构建身体表示的基本能力之一，它影响机器人对环境和机器人身体变化的适应性。自我观察中感觉的不变性似乎是寻找身体的有希望的关键信息。然而，由于每个感觉属性只能在观察身体的一部分时保持不变，因此机器人应该互补地利用多个感觉属性的不变性。在本文中，我们提出了一种基于对每个观察姿势的感觉方差分布的猜想，互补地利用多种感觉属性来区分身体与非身体的方法，其中它可以通过分别用于观察身体和非身体的两个高斯分布的混合来近似。通过估计分布，机器人可以自动找到一个判别超平面来判断是否以当前观察姿势观察自己的身体。简单的实验表明了该方法的有效性。
Finding the body in uninterpreted sensory data is one of the fundamental competences to construct the body representation that influences on adaptabilities of the robot to the changes in the environment and the robot body. The invariance of sensations in self-observation seems a promising key information to find the body. However, since each sensory attribute can be invariant only in the observation of a part of the body, the robot should complementarily utilize the invariance of the multiple sensory attributes. In this paper, we propose a method of body-nonbody discrimination by complementarily utilizing multiple sensory attributes based on a conjecture about the distribution of the variance of sensations for each observing posture, where it can be approximated by a mixture of two Gaussian distributions, which are for observing the body and the nonbody, respectively. By estimating the distribution, the robot can automatically find a discrimination hyperplane to judge whether it observes its body in the current observing posture. Simple experiments show the validity of the proposed method.
影响因子：
4.3
作者：
Asada, M;MacDorman, KF;Kuniyoshi, Y
通讯作者：
Kuniyoshi, Y