NDLI: Self Body Mapping in Mobile Robots Using Vision and Forward Models

Content Provider	IEEE Xplore Digital Library
Author	Escobar, E. Hermosillo, J. Lara, B.
Copyright Year	2012
Description	Author affiliation: Fac. de Cienc., Univ. Autonoma del Estado de Morelos, Cuernavaca, Mexico (Escobar, E.; Hermosillo, J.; Lara, B.)
Abstract	The work presented in this paper aims at providing an agent with basic capabilities leading towards navigation through self body-mapping using a vision system. In particular, we are interested in the study of forward models which code for the sensory consequences of an agent's self-produced actions. The research is developed in the framework of cognitive robotics and embodied cognition. The agent is a robot we let interact with its environment to know the free space around it from re-enaction of sensory-motor cycles predicting collisions from visual data. From the disparity map the robot associates intensity regions with motor commands in order to predict distances to objects reported by a tactile sensor in self-motion coordinates. In order to form this multimodal association we use a forward model, coded as a system of neural networks and trained with data coming from random trajectories executed by a Pioneer 3-XD. The resulting forward model allows the agent to navigate avoiding undesired situations by performing long term predictions of the sensory consequences of its actions. The experiments validate the hypothesis that this model allows for a basic self body-mapped navigation capability.
Sponsorship	IEEE Comput. Soc.
Starting Page	72
Ending Page	77
File Size	439191
Page Count	6
File Format	PDF
ISBN	9781467350969
DOI	10.1109/CERMA.2012.20
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-19
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Multimodal Sensory Representations Stereo Vision Forward Models
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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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