A Biologically Inspired Approach for Robot Depth Estimation
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Título
A Biologically Inspired Approach for Robot Depth EstimationFecha de publicación
2018Editor
HindawiISSN
1687-5265; 1687-5273Cita bibliográfica
MARTINEZ-MARTIN, Ester; DEL POBIL, Angel P. A Biologically Inspired Approach for Robot Depth Estimation. Computational intelligence and neuroscience, 2018, vol. 2018Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
https://www.hindawi.com/journals/cin/2018/9179462/Versión
info:eu-repo/semantics/publishedVersionPalabras clave / Materias
Resumen
Aimed at building autonomous service robots, reasoning, perception, and action should be properly integrated. In this paper, the depth cue has been analysed as an early stage given its importance for robotic tasks. ... [+]
Aimed at building autonomous service robots, reasoning, perception, and action should be properly integrated. In this paper, the depth cue has been analysed as an early stage given its importance for robotic tasks. So, from neuroscience findings, a hierarchical four-level dorsal architecture has been designed and implemented. Mainly, from a stereo image pair, a set of complex Gabor filters is applied for estimating an egocentric quantitative disparity map. This map leads to a quantitative depth scene representation that provides the raw input for a qualitative approach. So, the reasoning method infers the data required to make the right decision at any time. As it will be shown, the experimental results highlight the robust performance of the biologically inspired approach presented in this paper. [-]
Publicado en
Computational intelligence and neuroscience, 2018, vol. 2018Proyecto de investigación
Ministerio de Economia y Competitividad: DPI2015-69041-R; Universitat Jaume IDerechos de acceso
info:eu-repo/semantics/openAccess
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