Lepora, N.F., Martinez-Hernandez, U. and Prescott, T.J. (2013) A SOLID case for active bayesian perception in robot touch. In: Biomimetic and Biohybrid Systems. Second International Conference, Living Machines 2013, July 29 – August 2, 2013, London, UK. Lecture Notes in Computer Science, 8064 . Springer Berlin Heidelberg , pp. 154-166. ISBN 9783642398018
Abstract
In a series of papers, we have formalized a Bayesian perception approach for robotics based on recent progress in understanding animal perception. The main principle is to accumulate evidence for multiple perceptual alternatives until reaching a preset belief threshold, formally related to sequential analysis methods for optimal decision making. Here, we extend this approach to active perception, by moving the sensor with a control strategy that depends on the posterior beliefs during decision making. This method can be used to solve problems involving Simultaneous Object Localization and IDentification (SOLID), or 'where and what'. Considering an example in robot touch, we find that active perception gives an efficient, accurate solution to the SOLID problem for uncertain object locations; in contrast, passive Bayesian perception, which lacked sensorimotor feedback, then performed poorly. Thus, active perception can enable robust sensing in unstructured environments. © 2013 Springer-Verlag Berlin Heidelberg.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2013 Springer-Verlag Berlin Heidelberg. This is an author produced version of a paper subsequently published in Lecture Notes in Computer Science. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
|
Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Feb 2017 14:32 |
Last Modified: | 21 Mar 2018 00:42 |
Published Version: | https://doi.org/10.1007/978-3-642-39802-5-14 |
Status: | Published |
Publisher: | Springer Berlin Heidelberg |
Series Name: | Lecture Notes in Computer Science |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-642-39802-5-14 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:108459 |