CAREER: Neurally Inspired Active Vision: Theory, Models, and Applications in Mobile Robotics

职业：神经启发主动视觉：移动机器人的理论、模型和应用

• 批准号: 0133592
• 负责人: Rajesh Rao
• 金额: $ 35万
• 依托单位: University of Washington
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2002
• 资助国家: 美国
• 起止时间: 2002-02-15 至 2007-01-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0133592&HistoricalAwards=false
• 关键词: CAREER; Neurally; Inspired; Active; Vision

The goal of the project is to bridge the gap between human and machine vision by designing active vision systems modeled after neurobiology. Such systems can benefit from the ability to make eye, head, and body movements for active sensing, and can learn robust models of the visual world directly from interaction with the environment. Computational models of active vision will be formulated within the context of neurobiological data, addressing the problems of object identification, detection, attention, tracking, modeling self-motion, and oculomotor learning. An anthropomorphic real-time binocular active vision system will be designed based on commercially available camera platforms and real-time image processing hardware. The performance of the approach will be evaluated on both wheeled and legged robots in tasks involving visual navigation and multi-robot collaboration. The education part of the project includes development of an interdisciplinary curriculum in computational neuroscience.

该项目的目标是通过设计模仿神经生物学的主动视觉系统来弥合人类和机器视觉之间的差距。这样的系统可以受益于使眼睛、头部和身体移动以进行主动感测的能力，并且可以直接从与环境的交互中学习视觉世界的鲁棒模型。主动视觉的计算模型将在神经生物学数据的背景下制定，解决对象识别，检测，注意力，跟踪，自我运动建模和视觉学习的问题。本文基于商用摄像机平台和实时图像处理硬件，设计了一个拟人实时双目主动视觉系统。该方法的性能将在轮式和腿式机器人的视觉导航和多机器人协作的任务进行评估。该项目的教育部分包括开发计算神经科学的跨学科课程。