1. Jürgen ’Juxi’ Leitner
S. Harding, M. Frank, A. Förster, J. Schmidhuber
istituto dalle molle di studi sull’intelligenza artificiale
università della svizzera italiana
idsia / usi / supsi
towards
spatial perception
learning to locate objects from vision
#robotdoc 2012
Monday, September 10, 2012

2. iCub
thanks to G. Metta, IIT and U.Plymouth for their pictures
Monday, September 10, 2012

3. our iCub
setup is for
manipulation
Monday, September 10, 2012

4. thanks to G. Metta and IIT for this picture
visual
perception
Monday, September 10, 2012

5. three parts
Monday, September 10, 2012

6. detecting
objects
Harding et al., GPTP 2012, Leitner et al., ICDL 2012
Monday, September 10, 2012

7. Image credit: NASA
also works for
detecting rocks
on Mars
Leitner et al., iSAIRAS 2012
Monday, September 10, 2012

8. detecting
objects
Harding et al., GPTP 2012, Leitner et al., ICDL 2012
Monday, September 10, 2012

9. icVision
framework Leitner et al., BICA 2012
Monday, September 10, 2012

10. three parts
GPTP2012, ICDL2012(?) BICA 2012
Monday, September 10, 2012

11. locate
objects
Monday, September 10, 2012

12. current
localisation approaches
Monday, September 10, 2012

13. learning
approach
+
Monday, September 10, 2012

14. learning
setup
Monday, September 10, 2012

15. spatial perception
neural network
Monday, September 10, 2012

16. spatial perception
genetic programming
Monday, September 10, 2012

17. x = 17.81 − 0.01906 v1 + 0.1527 v4 + 0.1378 v7 +
0.01108 v10 − 0.0296 v11 − 0.1207 v12
y = 1.124224045 + 0.1295920897 v10 +
0.1156011386 v8 + 0.01695234993 v0
spatial perception
genetic programming
Monday, September 10, 2012

18. relative
errors
Monday, September 10, 2012

19. transferring
spatial perception
Monday, September 10, 2012

20. future
work
automate the learning (IROS 2012)
different spatial representations
“intrinsic motivation” learning
online, continuous learning
eye-hand coordination
Monday, September 10, 2012

21. thanks
for listening
juxi@idsia.ch http://Juxi.net/projects
Monday, September 10, 2012