Proceedings Article10.1109/IROS.2000.894609
Visual landmark learning
G. Bianco,Alexander Zelinsky,M. Lehrer +2 more
- 31 Oct 2000
- Vol. 1, pp 227-232
TL;DR: In this paper, the authors introduce theoretical tools that might explain how the visual learning works and why the motion is attracted by the pre-learnt goal position, and apply classical mathematical and dynamic control to analyze the efficiency of their method.
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Abstract: Biology often offers valuable example of systems both for learning and for controlling motion. Work in robotics has often been inspired by these findings in diverse ways. Though the fundamental aspects that involve visual landmark learning and motion control mechanisms have almost exclusively been approached heuristically rather than examining the underlying principles. In this paper we introduce theoretical tools that might explain how the visual learning works and why the motion is attracted by the pre-learnt goal position. Basically, the theoretical tools emerge from the navigation vector field produced by the visual behaviors. Both the learning process and the navigation scheme influence the motion field. We apply classical mathematical and dynamic control to analyze the efficiency of our method.
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Citations
Vision based topological Markov localization
Jana Kosecka,Fayin Li +1 more
- 27 Sep 2004
TL;DR: This paper compares the recognition performance using global image histograms as well as local scale-invariant features as image descriptors, demonstrate their strengths and weaknesses and shows how to model the spatial relationships between individual locations by a Hidden Markov Model.
•Journal Article
Saliency maps operating on stereo images detect landmarks and their distance
TL;DR: In this paper, a model that uses binocular visual input to detect landmarks and estimate their distance based on disparity between the two images is presented, where feature detectors provide input to saliency maps that find landmarks as combinations of features.
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Saliency Maps Operating on Stereo Images Detect Landmarks and Their Distance
Jörg Conradt,Pascal Simon,Michel Pescatore,Paul F. M. J. Verschure +3 more
- 28 Aug 2002
TL;DR: This work presents a model that uses binocular visual input to detect landmarks and estimates their distance based on disparity between the two images and test the model in the real world and show that it reliably detects landmarks and estimated their distances.
Sharing landmark information using mixture of Gaussian terrain spatiograms
Damian M. Lyons
- 10 Oct 2009
TL;DR: This paper evaluates the use of a novel spatial histogram, the terrain spatiogram, as a common representation for exchanging landmark information between robots working as a team to map an area using a mixture of Gaussians and MOG model.
Learning-based visual localization using formal concept lattices
Manuel Samuelides,Emmanuel Zenou +1 more
- 29 Sep 2004
TL;DR: A new methodology to perform active visual localization in the context of autonomous mobile robotics by using a symbolic learning approach, the "formal concept analysis", to improve the response rate of the decision process.
4
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Multiple stored views and landmark guidance in ants
S. P. D. Judd,Thomas S. Collett +1 more
TL;DR: It is shown that wood ants take several ‘snapshots’ of a familiar beacon from different vantage points, which tend to match the positions of landmark edges that the ant captured during its preceding ‘learning walks’.
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TL;DR: A detailed film analysis shows that orientation flights in solitary wasps of the genus Cerceris consist of a systematic behavioural sequence: after lift-off from the nest entrance, wasps fly in ever increasing arcs around the nest.
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Hirochika Inoue,T. Tachikawa,Masayuki Inaba +2 more
- 12 May 1992
TL;DR: A high-performance robot vision system that performs real-time tracking of moving objects, real- time optical flow computation, and high-speed depth map generation is described.
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