NDLI: Where do i look now? Gaze allocation during visually guided manipulation

Content Provider	IEEE Xplore Digital Library
Author	Nunez-Varela, J. Ravindran, B. Wyatt, J.L.
Copyright Year	2012
Description	Author affiliation: School of Computer Science, University of Birmingham, B15 2TT, UK (Nunez-Varela, J.; Wyatt, J.L.) \|\| Department of Computer Science and Engineering, IIT Madras, India (Ravindran, B.)
Abstract	In this work we present principled methods for the coordination of a robot's oculomotor system with the rest of its body motor systems. The problem is to decide which physical actions to perform next and where the robot's gaze should be directed in order to gain information that is relevant to the success of its physical actions. Previous work on this problem has shown that a reward-based coordination mechanism provides an efficient solution. However, that approach does not allow the robot to move its gaze to different parts of the scene, it considers the robot to have only one motor system, and assumes that the actions have the same duration. The main contributions of our work are to extend that previous reward-based approach by making decisions about where to fixate the robot's gaze, handling multiple motor systems, and handling actions of variable duration. We compare our approach against two common baselines: random and round robin gaze allocation. We show how our method provides a more effective strategy to allocate gaze where it is needed the most.
Starting Page	4444
Ending Page	4449
File Size	570813
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225226
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Visualization Cameras Uncertainty Containers Robot vision systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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