Early integration of vision and manipulation
Early integration of vision and manipulation
复制标题
视觉和操纵的早期整合
DOI：
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复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
P. Fitzpatrick
中科院分区：
文献类型：
--
作者：
G. Metta;P. Fitzpatrick
仅提供摘要形式。在灵长类动物的大脑中，视觉和操纵是密不可分的。来自神经科学的诱人结果揭示了大脑在伸手、抓握和物体识别过程中使用的混合运动和感觉表征。我们现在知道了很多关于大脑在这些活动中发生了什么，但不一定是为什么。我们所看到的整合在功能上是重要的，还是仅仅反映了进化对尖锐的模块化缺乏热情？我们希望以机器人的形式实例化这些结果，以探索它们的技术优势，并找到现有模型中的任何缺陷。我们认为，在一个已经以成熟形式实现了人工智能和复杂机器视觉的平台上研究这一点是没有意义的，而是从更简单的原语开始采用发展方法。我们开始的前兆操纵，简单的戳和戳，并显示它如何促进对象分割，一个长期存在的问题，在机器视觉。机器人可以通过作用于它们来熟悉其环境中的物体。然后，它可以通过环境中的其他行为者（如人类）对它所了解的物体的影响来识别它们。我们认为，从机器人的身体到环境中的事件的因果链允许一个非常自然的发展进程的视觉能力，并将这个想法与神经科学的结果。
Summary form only given. Vision and manipulation are inextricably intertwined in the primate brain. Tantalizing results from neuroscience are shedding light on the mixed motor and sensory representations used by the brain during reaching, grasping, and object recognition. We now know a great deal about what happens in the brain during these activities, but not necessarily why. Is the integration we see functionally important, or just a reflection of evolution's lack of enthusiasm for sharp modularity? We wish to instantiate these results in robotic form to probe their technical advantages and to find any lacunae in existing models. We believe it would be missing the point to investigate this on a platform where dextrous manipulation and sophisticated machine vision are already implemented in their mature form, and instead follow a developmental approach from simpler primitives. We begin with a precursor to manipulation, simple poking and prodding, and show how it facilitates object segmentation, a long-standing problem in machine vision. The robot can familiarize itself with the objects in its environment by acting upon them. It can then recognize other actors (such as humans) in the environment through their effect on the objects it has learned about. We argue that following causal chains of events out from the robot's body into the environment allows for a very natural developmental progression of visual competence, and relate this idea to results in neuroscience.
影响因子：
2.5
作者：
Graziano, MSA;Hu, XTA;Gross, CG
通讯作者：
Gross, CG