Exploração e busca visual robótica em ambiente simulado

• DOI: 10.22533/at.ed.0241915109

• Palavras-chave: busca visual, atenção visual, robótica, aprendizado online.

• Keywords: visual search, visual attention, robotics, online learning.

• Abstract:

  In this work, a robotic agent

  named Angela has been devised and simulated.

  The virtual robot has two degrees of freedom

  and is capable of performing search and

  visual exploration in a virtual environment. Its

  modular architecture allows for straightfoward

  substitution and improvements of its modules,

  aiming for better overall performance. During

  exploration, the visual attention module detects

  salient objects and triggers online learning; when

  in search mode, candidate objects are searched

  for by the object proposal generation module.

  The classification module, which determines

  whether the visualized object corresponds to

  the target, is comprised of oiSGNG (Online

  Incremental Supervised Growing Neural Gas),

  an original classification algorithm devised and

  implemented during this work. oiSGNG has

  been featured in IJCNN 2017 (International Joint Conference on Neural Networks). The

  image segmentation module is another contribution of this work: StochGrow, which is

  based on region growing and provides a solid solution for the tradeoff between speed

  and quality of real time image segmentation. The complete system can be tweaked to

  address several real world robotic problems.

• Número de páginas: 15