Combining peripheral and foveal humanoid vision to detect, pursue, recognize and act
Combining peripheral and foveal humanoid vision to detect, pursue, recognize and act
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结合外围和中心凹类人视觉来检测、追踪、识别和行动
DOI：
10.1109/iros.2003.1249193
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
G. Cheng
中科院分区：
文献类型：
--
作者：
A. Ude;C. Atkeson;G. Cheng
在这篇文章中，我们提出了一个人形系统，它可以整合中心凹和周围摄像机提供的信息。基于简单的形状和颜色模型，我们使用周边视觉来检测和跟踪感兴趣的对象。检测事件触发机器人将其眼睛对准物体，从而使在更高分辨率的中心凹图像中对观察到的物体进行更详细的分析成为可能。该识别基于主成分分析，并且在机器人主动追逐被检测对象时执行。使用来自视频流的信息而不仅仅是单个图像来推断分类结果。一旦识别出想要的对象，机器人就会伸手去拿，而忽略其他对象。
In this paper we present a humanoid system that can integrate information provided by its foveal and peripheral cameras. We use peripheral vision to detect and pursue objects of interest based on simple shape and color models. A detection event triggers the robot to direct its eyes towards the object, thus making a more detailed analysis of the observed objects in higher resolution foveal images feasible. The recognition is based on principal component analysis and is performed while the robot actively pursues the detected object. The classification results are inferred using information from a video stream rather than just a single image. Once the desired object is recognized, the robot reaches for it while ignoring other objects.