Support Vector Machines and Gabor Kernels for Object Recognition on a Humanoid with Active Foveated Vision

Ude, A., Gaskett, C., and Cheng, G. (2004) Support Vector Machines and Gabor Kernels for Object Recognition on a Humanoid with Active Foveated Vision. In: Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robot Systems (IROS 2004), pp. 1-6. From: IROS2004, 28 Sep-2 Oct 2004, Sendai, Japan.

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Abstract

Object recognition requires a robot to perform a number of nontrivial tasks such as finding objects of interest, directing its eyes towards the objects, pursuing them, and identifying the objects once they appear in the robot's central vision. We have recently developed a recognition system on a humanoid robot which makes use of foveated vision to accomplish these tasks [1]. In this paper we present several substantial improvements to this system. We present a biologically motivated object representation scheme based on Gabor kernel functions and show how to employ support vector machines to identify known objects in foveal in1ages based on this representation. A mechanism for visual search is integrated into the system to find objects of interest in peripheral images. The framework also includes a control scheme for eye n1ovcn1ents, which arc directed using the results of attentive processing in peripheral images.

Item ID: 14767
Item Type: Conference Item (Refereed Research Paper - E1)
Keywords: support vector machines; Kernel; object recognition; robot vision systems; humanoid robots; cameras; robotics and automation; eyes; layout; computer vision
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ISBN: 0-7803-8463-6
Date Deposited: 29 Aug 2017 23:41
FoR Codes: 08 INFORMATION AND COMPUTING SCIENCES > 0801 Artificial Intelligence and Image Processing > 080101 Adaptive Agents and Intelligent Robotics @ 100%
SEO Codes: 89 INFORMATION AND COMMUNICATION SERVICES > 8999 Other Information and Communication Services > 899999 Information and Communication Services not elsewhere classified @ 100%
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