Autonomous learning of robust visual object detection and identification on a humanoid

Jürgen Leitner; Pramod Chandrashekhariah; Simon Harding; Mikhail Frank; Gabriele Spina; Alexander Förster; Jochen Triesch; Jürgen Schmidhuber

doi:10.1109/DevLrn.2012.6400826

Autonomous learning of robust visual object detection and identification on a humanoid

Jürgen Leitner, Pramod Chandrashekhariah, Simon Harding, Mikhail Frank, Gabriele Spina, Alexander Förster, Jochen Triesch, Jürgen Schmidhuber

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

5 Citations (Scopus)

Abstract

In this work we introduce a technique for a humanoid robot to autonomously learn the representations of objects within its visual environment. Our approach involves an attention mechanism in association with feature based segmentation that explores the environment and provides object samples for training. These samples are learned for further object identification using Cartesian Genetic Programming (CGP). The learned identification is able to provide robust and fast segmentation of the objects, without using features. We showcase our system and its performance on the iCub humanoid robot.

Original language	English
Title of host publication	2012 IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL 2012
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	186-191
Number of pages	6
ISBN (Print)	9781467349635
DOIs	https://doi.org/10.1109/DevLrn.2012.6400826
Publication status	Published - 2012
Externally published	Yes
Event	IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL) 2012 - San Diego, United States of America Duration: 7 Nov 2012 → 9 Nov 2012 https://ieeexplore.ieee.org/xpl/conhome/6384412/proceeding (Proceedings)

Conference

Conference	IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL) 2012
Abbreviated title	ICDL 2012
Country/Territory	United States of America
City	San Diego
Period	7/11/12 → 9/11/12
Internet address	https://ieeexplore.ieee.org/xpl/conhome/6384412/proceeding (Proceedings)

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10.1109/DevLrn.2012.6400826

Cite this

Leitner, J., Chandrashekhariah, P., Harding, S., Frank, M., Spina, G., Förster, A., Triesch, J., & Schmidhuber, J. (2012). Autonomous learning of robust visual object detection and identification on a humanoid. In 2012 IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL 2012 (pp. 186-191). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/DevLrn.2012.6400826

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title = "Autonomous learning of robust visual object detection and identification on a humanoid",

abstract = "In this work we introduce a technique for a humanoid robot to autonomously learn the representations of objects within its visual environment. Our approach involves an attention mechanism in association with feature based segmentation that explores the environment and provides object samples for training. These samples are learned for further object identification using Cartesian Genetic Programming (CGP). The learned identification is able to provide robust and fast segmentation of the objects, without using features. We showcase our system and its performance on the iCub humanoid robot.",

author = "J{\"u}rgen Leitner and Pramod Chandrashekhariah and Simon Harding and Mikhail Frank and Gabriele Spina and Alexander F{\"o}rster and Jochen Triesch and J{\"u}rgen Schmidhuber",

year = "2012",

doi = "10.1109/DevLrn.2012.6400826",

language = "English",

isbn = "9781467349635",

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booktitle = "2012 IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL 2012",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

note = "IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL) 2012, ICDL 2012 ; Conference date: 07-11-2012 Through 09-11-2012",

url = "https://ieeexplore.ieee.org/xpl/conhome/6384412/proceeding",

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Leitner, J, Chandrashekhariah, P, Harding, S, Frank, M, Spina, G, Förster, A, Triesch, J & Schmidhuber, J 2012, Autonomous learning of robust visual object detection and identification on a humanoid. in 2012 IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL 2012. IEEE, Institute of Electrical and Electronics Engineers, pp. 186-191, IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL) 2012, San Diego, California, United States of America, 7/11/12. https://doi.org/10.1109/DevLrn.2012.6400826

Autonomous learning of robust visual object detection and identification on a humanoid. / Leitner, Jürgen; Chandrashekhariah, Pramod; Harding, Simon et al.
2012 IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL 2012. IEEE, Institute of Electrical and Electronics Engineers, 2012. p. 186-191.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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AU - Spina, Gabriele

AU - Förster, Alexander

AU - Triesch, Jochen

AU - Schmidhuber, Jürgen

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Leitner J, Chandrashekhariah P, Harding S, Frank M, Spina G, Förster A et al. Autonomous learning of robust visual object detection and identification on a humanoid. In 2012 IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL 2012. IEEE, Institute of Electrical and Electronics Engineers. 2012. p. 186-191 doi: 10.1109/DevLrn.2012.6400826

Autonomous learning of robust visual object detection and identification on a humanoid

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