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Revisiting Active Perception
TL;DR: It is argued that those contributions are as relevant today as they were decades ago and, with the state of modern computational tools, are poised to find new life in the robotic perception systems of the next decade.
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Abstract: Despite the recent successes in robotics, artificial intelligence and computer vision, a complete artificial agent necessarily must include active perception. A multitude of ideas and methods for how to accomplish this have already appeared in the past, their broader utility perhaps impeded by insufficient computational power or costly hardware. The history of these ideas, perhaps selective due to our perspectives, is presented with the goal of organizing the past literature and highlighting the seminal contributions. We argue that those contributions are as relevant today as they were decades ago and, with the state of modern computational tools, are poised to find new life in the robotic perception systems of the next decade.
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Figures
Table 2. Details of the components of the diagram of Figure 1. For those elements where multiple Research Seeds are given, it is because each addresses a different dimension of the problem; in most cases, many open problems remain for each component. 
Figure 1. The basic elements of Active Perception broken down into their constituent components. Instances of an embodiment of active perception would include the Why component and at least one of the remaining elements whereas a complete active agent would include at least one component from each. 
Table 1. The five main constituents of an actively perceiving agent are defined. 
Figure 2. The current standard processing pipeline common in computer vision. 
Figure 3. Active perception processing pipeline.
Citations
The Perception of the Visual World. By James J. Gibson. U.S.A.: Houghton Mifflin Company, 1950 (George Allen & Unwin, Ltd., London). Price 35s.
TL;DR: In this paper, the authors offer a new book that enPDFd the perception of the visual world to read, which they call "Let's Read". But they do not discuss how to read it.
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Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision
Jorge Peña Queralta,Jussi Taipalmaa,Bilge Can Pullinen,Victor Kathan Sarker,Tuan Nguyen Gia,Hannu Tenhunen,Moncef Gabbouj,Jenni Raitoharju,Tomi Westerlund +8 more
TL;DR: The objective of this survey is to serve as an entry point to the various aspects of multi-robot SAR systems to researchers in both the machine learning and control fields by giving a global overview of the main approaches being taken in the SAR robotics area.
392
Interactive Perception: Leveraging Action in Perception and Perception in Action
Jeannette Bohg,Karol Hausman,Bharath Sankaran,Oliver Brock,Danica Kragic,Stefan Schaal,Gaurav S. Sukhatme +6 more
TL;DR: This survey postulates this as a principle for robot perception and collects evidence in its support by analyzing and categorizing existing work in this area, and provides an overview of the most important applications of IP.
366
Dec-MCTS: Decentralized planning for multi-robot active perception:
Graeme Best,Oliver M. Cliff,Timothy Patten,Timothy Patten,Ramgopal R. Mettu,Robert Fitch,Robert Fitch +6 more
TL;DR: This work proposes a decentralized variant of Monte Carlo tree search (MCTS) that is suitable for a variety of tasks in multi-robot active perception and extends the theoretical analysis of standard MCTS to provide guarantees for convergence rates to the optimal payoff sequence.
215
A survey on human-aware robot navigation
Ronja Möller,Antonino Furnari,Sebastiano Battiato,Aki Härmä,Giovanni Maria Farinella,Giovanni Maria Farinella +5 more
TL;DR: This paper is concerned with the navigation aspect of a socially compliant robot and provides a survey of existing solutions for the relevant areas of research as well as an outlook on possible future directions.
References
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The Ecological Approach to Visual Perception
James J. Gibson
- 01 Jan 1979
TL;DR: The relationship between Stimulation and Stimulus Information for visual perception is discussed in detail in this article, where the authors also present experimental evidence for direct perception of motion in the world and movement of the self.
26.1K
A feature-integration theory of attention
Anne Treisman,Garry A. Gelade +1 more
TL;DR: A new hypothesis about the role of focused attention is proposed, which offers a new set of criteria for distinguishing separable from integral features and a new rationale for predicting which tasks will show attention limits and which will not.
12.7K
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Probabilistic Robotics
Sebastian Thrun
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TL;DR: This research presents a novel approach to planning and navigation algorithms that exploit statistics gleaned from uncertain, imperfect real-world environments to guide robots toward their goals and around obstacles.
8.8K
Efficient Graph-Based Image Segmentation
TL;DR: An efficient segmentation algorithm is developed based on a predicate for measuring the evidence for a boundary between two regions using a graph-based representation of the image and it is shown that although this algorithm makes greedy decisions it produces segmentations that satisfy global properties.