Revisiting active perception.
TL;DR: In this article, the authors present a history of active perception in robotics, artificial intelligence and computer vision, highlighting the seminal contributions and 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 robotic perception systems of the next decade.
read more
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.
read more
Chat with Paper
AI Agents for this Paper
Find similar papers on Google Scholar, PubMed and Arxiv
Write a critical review of this paper
Analyze citations of this paper to find unaddressed research gaps
Citations
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
Challenges and Outlook in Robotic Manipulation of Deformable Objects
01 Sep 2022
TL;DR: Deformable object manipulation (DOM) is an emerging research problem in robotics as discussed by the authors , which demands breakthroughs in almost all aspects of robotics: hardware design, sensing, (deformation) modeling, planning, and control.
Evaluating the Single-Shot MultiBox Detector and YOLO Deep Learning Models for the Detection of Tomatoes in a Greenhouse.
Sandro Augusto Magalhães,Luís M. de Castro,Germano Moreira,Filipe Neves dos Santos,Mário Cunha,Jorge Dias,António Paulo Moreira +6 more
TL;DR: In this article, five deep learning models were selected, trained and benchmarked to detect green and reddish tomatoes grown in greenhouses, including SSD MobileNet v2, SSD Inception v2 and YOLOv4 Tiny, reaching an F1-score of 66.15%, an mAP of 51.46% and an inference time of 16.44ms with the NVIDIA Turing Architecture platform, an NVIDIA Tesla T4, with 12 GB.
108
References
•Book
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
•Book
Probabilistic Robotics
Sebastian Thrun
- 01 Jan 2005
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.
Action recognition in the premotor cortex
TL;DR: It is proposed that mirror neurons form a system for matching observation and execution of motor actions, similar to that of mirror neurons exists in humans and could be involved in recognition of actions as well as phonetic gestures.
Related Papers (5)
[...]
Andrew Blake,Alan L. Yuille +1 more
- 12 Jan 1993
Kaiming He,Xiangyu Zhang,Shaoqing Ren,Jian Sun +3 more
- 27 Jun 2016
[...]
Kaiming He,Georgia Gkioxari,Piotr Dollár,Ross Girshick +3 more
- 20 Mar 2017