Perception of Localized Features During Robotic Sensorimotor Development
Perception of Localized Features During Robotic Sensorimotor Development
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DOI：
10.1109/tcds.2017.2652129
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发表时间：
2017-06-01
影响因子：
5
通讯作者：
Shen, Qiang
中科院分区：
文献类型：
--
作者：
Giagkos, Alexandros;Lewkowicz, Daniel;Shen, Qiang
对与物体相关的概念的理解是在婴儿期经过很长时间发展起来的。本文探讨了物理约束和视觉感知的变化如何影响注视控制的感觉运动发展，以及对场景中感兴趣区域特征的感知。通过一系列渐进的发展阶段，模拟十个月的婴儿发展，本文探讨了对识别局部区域的环境中的特征感知。使用iCub人形机器人进行的两个实验的结果表明，通过遵循所提出的方法，认知代理能够脚手架感觉运动的经验，允许逐步探索的周围环境和局部区域识别，在低级别的特征相似性。此外，本文还报道了与发展心理学文献中发现的人类行为相匹配的视觉相关现象的出现。
The understanding of concepts related to objects are developed over a long period of time in infancy. This paper investigates how physical constraints and changes in visual perception impact on both sensorimotor development for gaze control, as well as the perception of features of interesting regions in the scene. Through a progressive series of developmental stages, simulating ten months of infant development, this paper examines feature perception toward recognition of localized regions in the environment. Results of two experiments, conducted using the iCub humanoid robot, indicate that by following the proposed approach a cognitive agent is capable of scaffolding sensorimotor experiences to allow gradual exploration of the surroundings and local region recognition, in terms of low-level feature similarities. In addition, this paper reports the emergence of vision-related phenomena that match human behaviors found in the developmental psychology literature.