NDLI: Environmental perception for a robot using 3D range camera

Content Provider	IEEE Xplore Digital Library
Author	Masuta, Hiroyuki Kubota, Naoyuki
Copyright Year	2012
Description	Author affiliation: Kanagawa University, Department of Mechanical Engineering, Yokohama, JAPAN (Masuta, Hiroyuki) \|\| Tokyo Metropolitan University, Department of System Design, Hino, JAPAN (Kubota, Naoyuki)
Abstract	This paper discusses robot perception of an unexpected object for human friendly robots using 3D range camera. A robot should be able to perceive an environment flexibly to realize an intelligent behavior. We focus on a perceptual system for human visual perception based on ecological psychology. We have proposed a perceptual system composed of the retinal model and the spiking-neural network to realize the concept of the perceiving-acting cycle. The proposed method is applied to a robot arm equipped with a 3D range camera. In this paper, we propose an integrated perceptual system for accuracy improvement of perception. Moreover, we propose a perceptual element to install to the integrated perceptual system that detects an unexpected posture or object by using 3D range camera. As experimental results, we show that the proposed method perceives the target object accurately by an integration of different perceptual elements, and the robot recognizes an unexpected paper ball.
Starting Page	1
Ending Page	6
File Size	1597939
Page Count	6
File Format	PDF
ISBN	9781467344975
ISSN	21544824
e-ISBN	9781889334479
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-24
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	TSI Press
Subject Keyword	Retina Neurons Humans Cameras Robot vision systems Psychology spiking neural network service robot 3D range camera
Content Type	Text
Resource Type	Article

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