Davies, S., Lucas, A. orcid.org/0000-0002-3165-3923, Ricolfe-Viala, C. et al. (1 more author) (2021) A database for learning numbers by visual finger recognition in developmental neuro-robotics. Frontiers in Neurorobotics, 15 (1). 619504.
Abstract
Numerical cognition is a fundamental component of human intelligence that has not been fully understood yet. Indeed, it is a subject of research in many disciplines, e.g., neuroscience, education, cognitive and developmental psychology, philosophy of mathematics, linguistics. In Artificial Intelligence, aspects of numerical cognition have been modelled through neural networks to replicate and analytically study children behaviours. However, artificial models need to incorporate realistic sensory-motor information from the body to fully mimic the children's learning behaviours, e.g., the use of fingers to learn and manipulate numbers. To this end, this article presents a database of images, focused on number representation with fingers using both human and robot hands, which can constitute the base for building new realistic models of numerical cognition in humanoid robots, enabling a grounded learning approach in developmental autonomous agents. The article provides a benchmark analysis of the datasets in the database that are used to train, validate, and test five state-of-the art deep neural networks, which are compared for classification accuracy together with an analysis of the computational requirements of each network. The discussion highlights the trade-off between speed and precision in the detection, which is required for realistic applications in robotics.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021 The Authors. This is an open-access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
Keywords: | cognitive robotics; region-based CNN; SSD; single shot detector; finger counting, iCub robot; developmental robotics; developmental neuro-robotics |
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) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 18 Mar 2021 14:53 |
Last Modified: | 18 Mar 2021 14:53 |
Status: | Published |
Publisher: | Frontiers Media SA |
Refereed: | Yes |
Identification Number: | 10.3389/fnbot.2021.619504 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:172193 |