36,753 research outputs found
Perceptual Factors for Environmental Modeling in Robotic Active Perception
Accurately assessing the potential value of new sensor observations is a
critical aspect of planning for active perception. This task is particularly
challenging when reasoning about high-level scene understanding using
measurements from vision-based neural networks. Due to appearance-based
reasoning, the measurements are susceptible to several environmental effects
such as the presence of occluders, variations in lighting conditions, and
redundancy of information due to similarity in appearance between nearby
viewpoints. To address this, we propose a new active perception framework
incorporating an arbitrary number of perceptual effects in planning and fusion.
Our method models the correlation with the environment by a set of general
functions termed perceptual factors to construct a perceptual map, which
quantifies the aggregated influence of the environment on candidate viewpoints.
This information is seamlessly incorporated into the planning and fusion
processes by adjusting the uncertainty associated with measurements to weigh
their contributions. We evaluate our perceptual maps in a simulated environment
that reproduces environmental conditions common in robotics applications. Our
results show that, by accounting for environmental effects within our
perceptual maps, we improve in the state estimation by correctly selecting the
viewpoints and considering the measurement noise correctly when affected by
environmental factors. We furthermore deploy our approach on a ground robot to
showcase its applicability for real-world active perception missions.Comment: 7 pages, 9 figures, under review for IEEE ICRA 202
How Does the Cerebral Cortex Work? Developement, Learning, Attention, and 3D Vision by Laminar Circuits of Visual Cortex
A key goal of behavioral and cognitive neuroscience is to link brain mechanisms to behavioral functions. The present article describes recent progress towards explaining how the visual cortex sees. Visual cortex, like many parts of perceptual and cognitive neocortex, is organized into six main layers of cells, as well as characteristic sub-lamina. Here it is proposed how these layered circuits help to realize the processes of developement, learning, perceptual grouping, attention, and 3D vision through a combination of bottom-up, horizontal, and top-down interactions. A key theme is that the mechanisms which enable developement and learning to occur in a stable way imply properties of adult behavior. These results thus begin to unify three fields: infant cortical developement, adult cortical neurophysiology and anatomy, and adult visual perception. The identified cortical mechanisms promise to generalize to explain how other perceptual and cognitive processes work.Air Force Office of Scientific Research (F49620-01-1-0397); Office of Naval Research (N00014-01-1-0624
Invisibility and interpretation
Invisibility is often thought to occur because of the low-level limitations of the visual system. For example, it is often assumed that backward masking renders a target invisible because the visual system is simply too slow to resolve the target and the mask separately. Here, we propose an alternative explanation in which invisibility is a goal rather than a limitation and occurs naturally when making sense out of the plethora of incoming information. For example, we present evidence that (in)visibility of an element can strongly depend on how it groups with other elements. Changing grouping changes visibility. In addition, we will show that features often just appear to be invisible but are in fact visible in a way the experimenter is not aware of
Multimodal Grounding for Language Processing
This survey discusses how recent developments in multimodal processing
facilitate conceptual grounding of language. We categorize the information flow
in multimodal processing with respect to cognitive models of human information
processing and analyze different methods for combining multimodal
representations. Based on this methodological inventory, we discuss the benefit
of multimodal grounding for a variety of language processing tasks and the
challenges that arise. We particularly focus on multimodal grounding of verbs
which play a crucial role for the compositional power of language.Comment: The paper has been published in the Proceedings of the 27 Conference
of Computational Linguistics. Please refer to this version for citations:
https://www.aclweb.org/anthology/papers/C/C18/C18-1197
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