Incorporating active vision into the body schema

Many humanoid robots are built with active vision systems that allow them to foveate objects in an anthropomorphic manner that approximates human eye movement. Unfortunately, the act of foveating an object causes a change in the system's epipolar geometry, the projective relationship between th...

Celý popis

Uloženo v:
Podrobná bibliografie
Vydáno v:2009 4th ACM/IEEE International Conference on Human-Robot Interaction (HRI) s. 315 - 316
Hlavní autoři: Hart, Justin W., Avrunin, Eleanor R., Golub, David, Scassellati, Brian, Zucker, Steven W.
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: New York, NY, USA ACM 09.03.2009
IEEE
Edice:ACM Conferences
Témata:
Cameras
Computer systems organization > Embedded and cyber-physical systems > Sensors and actuators
Computing methodologies > Artificial intelligence > Control methods > Motion path planning
Geometry
Joints
Kinematics
Measurement
Robot vision systems
Stereo vision
Theory
robotic self modeling
ISBN:1605584045, 9781605584041
ISSN:2167-2121
On-line přístup:Získat plný text
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
Abstract Many humanoid robots are built with active vision systems that allow them to foveate objects in an anthropomorphic manner that approximates human eye movement. Unfortunately, the act of foveating an object causes a change in the system's epipolar geometry, the projective relationship between the two cameras. Interestingly, however, one solution to this problem has a strong relationship with another important problem in humanoid robotics, that of learning the body schema. In this work, we show the relationship between the two problems, building a model that incorporates the active vision system into the body schema. Such a model could be used to both facilitate stereo reconstruction in stereo active vision systems, and to build a relationship between what is seen in the visual field and the underlying kinematics of the robot. This will facilitate development of richer, more life-like, more communicative humanoid robots.
AbstractList Many humanoid robots are built with active vision systems that allow them to foveate objects in an anthropomorphic manner that approximates human eye movement. Unfortunately, the act of foveating an object causes a change in the system's epipolar geometry, the projective relationship between the two cameras. Interestingly, however, one solution to this problem has a strong relationship with another important problem in humanoid robotics, that of learning the body schema. In this work, we show the relationship between the two problems, building a model that incorporates the active vision system into the body schema. Such a model could be used to both facilitate stereo reconstruction in stereo active vision systems, and to build a relationship between what is seen in the visual field and the underlying kinematics of the robot. This will facilitate development of richer, more life-like, more communicative humanoid robots.
Author Hart, Justin W.
Scassellati, Brian
Golub, David
Avrunin, Eleanor R.
Zucker, Steven W.
Author_xml – sequence: 1
  givenname: Justin W.
  surname: Hart
  fullname: Hart, Justin W.
  organization: Yale University, New Haven, CT, USA
– sequence: 2
  givenname: Eleanor R.
  surname: Avrunin
  fullname: Avrunin, Eleanor R.
  organization: Yale University, New Haven, CT, USA
– sequence: 3
  givenname: David
  surname: Golub
  fullname: Golub, David
  organization: Yale University, New Haven, CT, USA
– sequence: 4
  givenname: Brian
  surname: Scassellati
  fullname: Scassellati, Brian
  organization: Yale University, New Haven, CT, USA
– sequence: 5
  givenname: Steven W.
  surname: Zucker
  fullname: Zucker, Steven W.
  organization: Yale University, New Haven, CT, USA
BookMark eNqNkD1PwzAQho0oEm3pzMDikSXF589kRBUflSqxwGzZjkMNxK7iqFL_PYmagZFbXp3eR6fTs0CzmKJH6BbIGoCLBxDASSXWY0LFLtACJBGi5ISLy7_LDM0pSFVQoHCNVjl_kWFUCQMyR2QbXeoOqTN9iJ_YuD4cPT6GHFLEIfYJ93uPbapPOLu9b80NumrMT_arKZfo4_npffNa7N5etpvHXWFA0r6oFbfU-8ZYRSvGna2MA0HAgyw5F06yhquaGQVVI6lUpaL1-JMoleXcAFuiu_Pd4L3Xhy60pjtpSYUk5djen1vjWm1T-s4aiB7F6EmMnsQM6PqfqLZd8A37BVCYXpU
ContentType Conference Proceeding
Copyright 2009 Copyright is held by the author/owner(s)
Copyright_xml – notice: 2009 Copyright is held by the author/owner(s)
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1145/1514095.1514193
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEL
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISBN 1605584045
9781605584041
EndPage 316
ExternalDocumentID 6256081
Genre orig-research
GroupedDBID 6IE
6IF
6IK
6IL
6IN
AAJGR
AARBI
ACM
ADPZR
ALMA_UNASSIGNED_HOLDINGS
APO
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
GUFHI
IERZE
OCL
RIE
RIL
AAWTH
ABLEC
ADZIZ
CHZPO
IEGSK
ID FETCH-LOGICAL-a162t-d74b2eefab72934cb9ac1501e168445c63f47d3a719f6267872d7811587b44a13
IEDL.DBID RIE
ISBN 1605584045
9781605584041
ISSN 2167-2121
IngestDate Wed Aug 27 03:24:37 EDT 2025
Wed Jan 31 06:36:43 EST 2024
Wed Jan 31 06:36:44 EST 2024
IsPeerReviewed false
IsScholarly false
Keywords robotic self modeling
Language English
LinkModel DirectLink
MeetingName HRI09: International Conference on Human Robot Interaction
MergedId FETCHMERGED-LOGICAL-a162t-d74b2eefab72934cb9ac1501e168445c63f47d3a719f6267872d7811587b44a13
PageCount 2
ParticipantIDs ieee_primary_6256081
acm_books_10_1145_1514095_1514193
acm_books_10_1145_1514095_1514193_brief
PublicationCentury 2000
PublicationDate 20090309
2009-March
PublicationDateYYYYMMDD 2009-03-09
2009-03-01
PublicationDate_xml – month: 03
  year: 2009
  text: 20090309
  day: 09
PublicationDecade 2000
PublicationPlace New York, NY, USA
PublicationPlace_xml – name: New York, NY, USA
PublicationSeriesTitle ACM Conferences
PublicationTitle 2009 4th ACM/IEEE International Conference on Human-Robot Interaction (HRI)
PublicationTitleAbbrev HRI
PublicationYear 2009
Publisher ACM
IEEE
Publisher_xml – name: ACM
– name: IEEE
SSID ssj0000781160
ssj0003204102
Score 1.4135702
Snippet Many humanoid robots are built with active vision systems that allow them to foveate objects in an anthropomorphic manner that approximates human eye movement....
SourceID ieee
acm
SourceType Publisher
StartPage 315
SubjectTerms Cameras
Computer systems organization -- Embedded and cyber-physical systems -- Sensors and actuators
Computing methodologies -- Artificial intelligence -- Control methods -- Motion path planning
Geometry
Joints
Kinematics
Measurement
Robot vision systems
Stereo vision
Theory
Title Incorporating active vision into the body schema
URI https://ieeexplore.ieee.org/document/6256081
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3LSsNAFB1qcaEbH61YX4wguDFtZjKPZC0WBSldqHQX5hXooom0qeDfe2cSq4IgrpIbQgiXZM49M_ecQehKJoyZ1MYREYWMmCUkSrkVkQQw5rEBxAwq15dHOZmks1k27aCbjRbGOReaz9zQn4a1fFuZtZ8qGwmPz15nvSWlaLRam_kUb1pD2lLfxwmNGQkth9Rbe8MITbyuC6p3gFyoY1q7p8-YtLY_hPERgCCwHj70x7AivaXM4sfuKwF8xnv_e-191P9S8eHpBp8OUMeVh2j3mwFhD8UP3sYyWBlDjFUY_HCjN8fzsq4w1IdYV_YdAwt2C9VHz-O7p9v7qN1DIVJE0DqykmnqXKE0VNEJMzpTBmpA4ohIGeNGJAWTNlGSZAVwG_h9qfWZ5KnUjCmSHKFuWZXuGGEgK5QraqhikhkHvBDC2FmWaaeFLAboEvKUe3Kwyhu9M8_bXOZtLgfo-s97cr2cO3haz2cyf21MN_I2iSe_Xz5FO80yj28OO0Pderl252jbvNXz1fIifCkf2KWuZw
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1dS8MwFA1zCuqLH1OcnxEEX-zWtEnTPotjwzn2MGVvJV-FPayVrRP8996kdSoI4lN7Synl0ubck9xzgtANDylVsfY9EmXco5oQL2Y68jiAMfMVIKZTub4M-WgUT6fJuIHu1loYY4xrPjMde-rW8nWhVnaqrBtZfLY6601GgfdUaq31jIq1rSF1sW_jMPApcU2HgTX3hjGaWGUX1O8AulDJ1IZPnzGpjX8IZV2AQeA9rGOPbk16Q6j5j_1XHPz09v734vvo6EvHh8drhDpADZMfot1vFoQt5A-skaUzM4YYCzf84Upxjmd5WWCoELEs9DsGHmzm4gg99x4m932v3kXBEyQKSk9zKgNjMiGhjg6pkolQUAUSQ6KYUqaiMKNch4KTJAN2Az9woG0mWcwlpYKEx6iZF7k5QRjoSsBEoAJBOVUGmCGEvtE0kUZGPGuja8hTaunBMq0Uzyytc5nWuWyj2z_vSeViZuBpLZvJ9LWy3UjrJJ7-fvkKbfcnT8N0OBg9nqGdatHHtoqdo2a5WJkLtKXeytlycem-mg8nUbGu
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2009+4th+ACM%2FIEEE+International+Conference+on+Human-Robot+Interaction+%28HRI%29&rft.atitle=Incorporating+active+vision+into+the+body+schema&rft.au=Hart%2C+J.+W.&rft.au=Avrunin%2C+E.&rft.au=Golub%2C+D.&rft.au=Scassellati%2C+B.&rft.date=2009-03-01&rft.pub=IEEE&rft.isbn=9781605584041&rft.issn=2167-2121&rft.spage=315&rft.epage=316&rft_id=info:doi/10.1145%2F1514095.1514193&rft.externalDocID=6256081
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2167-2121&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2167-2121&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2167-2121&client=summon