Lepora, N.F., Martinez-Hernandez, U. and Prescott, T.J. orcid.org/0000-0003-4927-5390 (2013) Active Bayesian perception for simultaneous object localization and identification. In: Newman, P., Fox, D. and Hsu, D., (eds.) Robotics: Science and Systems. Robotics: Science and Systems IX, 24-28 Jun 2013, Berlin, Germany. Robotics: Science and Systems Online Proceedings ISBN 9789810739379
Abstract
In this paper, we propose that active Bayesian perception has a general role for Simultaneous Object Localization and IDentification (SOLID), or deciding where and what. We test this claim using a biomimetic fingertip to perceive object identity via surface shape at uncertain contact locations. Our method for active Bayesian perception combines decision making by threshold crossing of the posterior belief with a sensorimotor loop that actively controls sensor location based on those beliefs. Our findings include: (i) active perception with a fixation control strategy gives an order-of-magnitude improvement in acuity over passive perception without sensorimotor feedback; (ii) perceptual acuity improves as the active control requires less belief to~make a relocation decision; and (iii) relocation noise further improves acuity. The best method has aspects that resemble animal perception, supporting wide applicability of these findings.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © 2013 Robotics: Science and Systems. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Computer Science (Sheffield) The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 13 Jan 2020 15:12 |
Last Modified: | 13 Jan 2020 15:12 |
Published Version: | http://www.roboticsproceedings.org/rss09/p19.html |
Status: | Published |
Publisher: | Robotics: Science and Systems Online Proceedings |
Refereed: | Yes |
Identification Number: | 10.15607/RSS.2013.IX.019 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:155162 |