Visual attention by saliency leads cross-modal body representation
Visual attention by saliency leads cross-modal body representation
复制标题
显着性的视觉注意力导致跨模式的身体表征
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
M. Asada
中科院分区：
文献类型：
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作者：
M. Hikita;S. Fuke;M. Ogino;T. Minato;M. Asada
物理代理（人类、灵长类动物和机器人）在执行各种任务时最基本的问题之一是身体表征。特别是在猴子的工具使用过程中，神经生理学证据表明，通过不同传感器模式的时空整合，表征可以动态重建，从而适应环境变化。然而，为了构建这样的表示，一个需要解决的问题是如何在各种感官数据之间关联哪些信息。本文提出了一种利用视觉、触觉和本体感觉构建跨模态身体表征的方法。触觉，当机器人接触到某物时，触发身体部位的视觉感受野的构建过程，这些部位可以通过视觉注意根据显著性图找到，从而被视为末端执行器。同时，本体感受信息与视觉感受野相关联，实现跨模态身体表征。将所提出的模型应用于实际机器人，结果与在猴子中观察到的顶叶神经元的活动相当。
One of the most fundamental issues for physical agents (humans, primates, and robots) in performing various kinds of tasks is body representation. Especially during tool-use by monkeys, neurophysiological evidence shows that the representation can be dynamically reconstructed by spatio-temporal integration of different sensor modalities so that it can be adaptive to environmental changes. However, to construct such a representation, an issue to be resolved is how to associate which information among various sensory data. This paper presents a method that constructs cross-modal body representation from vision, touch, and proprioception. Tactile sensation, when the robot touches something, triggers the construction process of the visual receptive field for body parts that can be found by visual attention based on a saliency map and consequently regarded as the end effector. Simultaneously, proprioceptive information is associated with this visual receptive field to achieve the cross-modal body representation. The proposed model is applied to a real robot and results comparable to the activities of parietal neurons observed in monkeys are shown.