Towards binocular active vision in a robot head system

This paper presents the first results of an investigation and pilot study into an active, binocular vision system that combines binocular vergence, object recognition and attention control in a unified framework. The prototype developed is capable of identifying, targeting, verging on and recognizing objects in a highly-cluttered scene without the need for calibration or other knowledge of the camera geometry. This is achieved by implementing all image analysis in a symbolic space without creating explicit pixel-space maps. The system structure is based on the ‘searchlight metaphor’ of biological systems. We present results of a first pilot investigation that yield a maximum vergence error of 6.4 pixels, while seven of nine known objects were recognized in a high-cluttered environment. Finally a “stepping stone” visual search strategy was demonstrated, taking a total of 40 saccades to find two known objects in the workspace, neither of which appeared simultaneously within the Field of View resulting from any individual saccade

Object-based visual attention for computer vision

AbstractIn this paper, a novel model of object-based visual attention extending Duncan's Integrated Competition Hypothesis [Phil. Trans. R. Soc. London B 353 (1998) 1307–1317] is presented. In contrast to the attention mechanisms used in most previous machine vision systems which drive attention based on the spatial location hypothesis, the mechanisms which direct visual attention in our system are object-driven as well as feature-driven. The competition to gain visual attention occurs not only within an object but also between objects. For this purpose, two new mechanisms in the proposed model are described and analyzed in detail. The first mechanism computes the visual salience of objects and groupings; the second one implements the hierarchical selectivity of attentional shifts. The results of the new approach on synthetic and natural images are reported

Methods and Apparatus for Autonomous Robotic Control

Sensory processing of visual, auditory, and other sensor information (e.g., visual imagery, LIDAR, RADAR) is conventionally based on "stovepiped," or isolated processing, with little interactions between modules. Biological systems, on the other hand, fuse multi-sensory information to identify nearby objects of interest more quickly, more efficiently, and with higher signal-to-noise ratios. Similarly, examples of the OpenSense technology disclosed herein use neurally inspired processing to identify and locate objects in a robot's environment. This enables the robot to navigate its environment more quickly and with lower computational and power requirements

The Practitioner's Toolbox

Psycholog

Contributions of visual speech, visual distractors, and cognition to speech perception in noise for younger and older adults

Older adults report that understanding speech in noisy situations (e.g., a restaurant) is difficult. Repeated experiences of frustration in noisy situations may cause older adults to withdraw socially, increasing their susceptibility to mental and physical illness. Understanding the factors that contribute to older adults’ difficulty in noise, and in turn, what might be able to alleviate this difficulty, is therefore an important area of research. The experiments in this thesis investigated how sensory and cognitive factors, in particular attention, affect older and younger adults’ ability to understand speech in noise. First, the performance of older as well as younger adults on a standardised speech perception in noise task and on a series of cognitive and hearing tasks was assessed. A correlational analysis indicated that there was no reliable association between pure-tone audiometry and speech perception in noise performance but that there was some evidence of an association between auditory attention and speech perception in noise performance for older adults. Next, a series of experiments were conducted that aimed to investigate the role of attention in gaining a visual speech benefit in noise. These auditory-visual experiments were largely motivated by the idea that as the visual speech benefit is the largest benefit available to listeners in noisy situations, any reduction in this benefit, particularly for older adults, could exacerbate difficulties understanding speech in noise. For the first auditory-visual experiments, whether increasing the number of visual distractors displayed affected the visual speech benefit in noise for younger and older adults when the SNR was -6dB (Experiment 1) and when the SNR was -1dB (Experiment 2) was tested. For both SNRs, the magnitude of older adults’ visual speech benefit reduced by approximately 50% each time an additional visual distractor was presented. Younger adults showed the same pattern when the SNR was - 6dB, but unlike older adults, were able to get a full visual speech benefit when one distractor was presented and the SNR was -1dB. As discussed in Chapter 3, a possible interpretation of these results is that combining auditory and visual speech requires attentional resources. To follow up the finding that visual distractors had a detrimental impact on the visual speech benefit, particularly for older adults, the experiment in Chapter 4 tested whether presenting a salient visual cue that indicated the location of the target talker would help older adults get a visual speech benefit. The results showed that older adults did not benefit from the cue, whereas younger adults did. As older adults should have had sufficient time to switch their gaze and/or attention to the location of the target talker, the failure to find a cueing effect suggests that age related declines in inhibition likely affected older adults’ ability to ignore the visual distractor. The final experiment tested whether the visual speech benefit and the visual distraction effect found for older adults in Chapter 4 transferred to a conversationcomprehension style task (i.e., The Question-and-Answer Task). The results showed that younger and older adults’ performance improved on an auditory-visual condition in comparison to an auditory-only condition and that this benefit did not reduce when a visual distractor was presented. To explain the absence of a distraction effect, several properties of the visual distractor presented were discussed. Together, the experiments in this thesis suggest that the roles of attention and visual distraction should be considered when trying to understand the communication difficulties that older adults experience in noisy situations

A Computational Model of Visual Recognition Memory via Grid Cells

Models of face, object, and scene recognition traditionally focus on massively parallel processing of low-level features, with higher-order representations emerging at later processing stages. However, visual perception is tightly coupled to eye movements, which are necessarily sequential. Recently, neurons in entorhinal cortex have been reported with grid cell-like firing in response to eye movements, i.e., in visual space. Following the presumed role of grid cells in vector navigation, we propose a model of recognition memory for familiar faces, objects, and scenes, in which grid cells encode translation vectors between salient stimulus features. A sequence of saccadic eye-movement vectors, moving from one salient feature to the expected location of the next, potentially confirms an initial hypothesis (accumulating evidence toward a threshold) about stimulus identity, based on the relative feature layout (i.e., going beyond recognition of individual features). The model provides an explicit neural mechanism for the long-held view that directed saccades support hypothesis-driven, constructive perception and recognition; is compatible with holistic face processing; and constitutes the first quantitative proposal for a role of grid cells in visual recognition. The variance of grid cell activity along saccade trajectories exhibits 6-fold symmetry across 360 degrees akin to recently reported fMRI data. The model suggests that disconnecting grid cells from occipitotemporal inputs may yield prosopagnosia-like symptoms. The mechanism is robust with regard to partial visual occlusion, can accommodate size and position invariance, and suggests a functional explanation for medial temporal lobe involvement in visual memory for relational information and memory-guided attention

Vision and the experience of built environments: two visual pathways of awareness, attention and embodiment in architecture

Doctor of PhilosophyEnvironmental Design and Planning ProgramRobert J. CondiaThe unique contribution of Vision and the Experience of Built Environments is its specific investigation into the visual processing system of the mind in relationship with the features of awareness and embodiment during the experience of architecture. Each facet of this investigation reflects the essential ingredients of sensation (the visual system), perception (our awareness), and emotions (our embodiment) respectively as a process for aesthetically experiencing our built environments. In regards to our visual system, it is well established in neuroscience that human vision divides into the central and peripheral fields of view. Central vision extends from the point of gaze (where we are looking) out to about 5° of visual angle (the width of one’s fist at arm’s length), while peripheral vision is the vast remainder of the visual field. These visual fields project to the parvo and magno ganglion cells which process distinctly different types of information from the world around us and project that information to the ventral and dorsal visual streams respectively. Building on the dorsal/ventral stream dichotomy, we can further distinguish between focal processing of central vision and ambient processing of peripheral vision. Thus, our visual processing of, and attention to, objects and scenes depends on how and where these stimuli fall on the retina. Built environments are no exception to these dependencies, specifically in terms of how focal object perception and ambient spatial perception create intellectual and phenomenal experiences respectively with architecture. These two forms of visual processing limit and guide our perception of the built world around us and subsequently our projected and extended embodied interactions with it as manifested in the act of aesthetic experience. By bringing peripheral vision and central vision together in a balanced perspective we will more fully understand that our aesthetic relationship with our built environment is greatly dependent on the dichotomous visual mechanisms of awareness and embodiment

The Developmental Trajectory of Contour Integration in Autism Spectrum Disorders

Sensory input is inherently ambiguous and complex, so perception is believed to be achieved by combining incoming sensory information with prior knowledge. One model envisions the grouping of sensory features (the local dimensions of stimuli) to be the outcome of a predictive process relying on prior experience (the global dimension of stimuli) to disambiguate possible configurations those elements could take. Contour integration, the linking of aligned but separate visual elements, is one example of perceptual grouping. Kanizsa-type illusory contour (IC) stimuli have been widely used to explore contour integration processing. Consisting of two conditions which differ only in the alignment of their inducing elements, one induces the experience of a shape apparently defined by a contour and the second does not. This contour has no counterpart in actual visual space – it is the visual system that fills-in the gap between inducing elements. A well-tested electrophysiological index associated with this process (the IC-effect) provided us with a metric of the visual system’s contribution to contour integration. Using visually evoked potentials (VEP), we began by probing the limits of this metric to three manipulations of contour parameters previously shown to impact subjective experience of illusion strength. Next we detailed the developmental trajectory of contour integration processes over childhood and adolescence. Finally, because persons with autism spectrum disorders (ASDs) have demonstrated an altered balance of global and local processing, we hypothesized that contour integration may be atypical. We compared typical development to development in persons with ASDs to reveal possible mechanisms underlying this processing difference. Our manipulations resulted in no differences in the strength of the IC-effect in adults or children in either group. However, timing of the IC-effect was delayed in two instances: 1) peak latency was delayed by increasing the extent of contour to be filled-in relative to overall IC size and 2) onset latency was delayed in participants with ASDs relative to their neurotypical counterparts

An Agent of Attention: An Inquiry into the Source of Our Control

When performing a skilled action—whether something impressive like a double somersault or something mundane like reaching for a glass of water—you exercise control over your bodily movements. Specifically, you guide their course. In what does that control consist? In this dissertation, I argue that it consists in attending to what you are doing. More specifically, in attending, agents harness their perceptual and perceptuomotor states directly and practically in service of their goals and, in doing so, settle the fine-grained manner in which their bodies will move—details an intention alone leaves unsettled. This requires, among other things, that we reject views on which agents’ control is identical with their practical rationality. When all goes well, agents attentionally prioritize what is motivationally relevant to them to the exclusion of what would otherwise distract them from achieving their goals. However, sometimes agents attend distractedly—i.e., without prioritizing. As the aim of attention is to avoid distraction, this entails the possibility of defective attention. Defective attention, in turn, casts light on scenarios in which agents lose control over what they are doing, as when a skilled practitioner ‘chokes under pressure’. A complaint sometimes levelled against accounts, like mine, that claim to reduce agents’ control of their behaviour to that of causally efficacious mental states or events is that these accounts invariably deprive agents themselves of their rightful role in the generation of behaviour. This is the “Disappearing Agent Problem” for “reductive” or “event-causal” theories of action. I argue that, correctly understood, extant reductive theories do face a genuine Disappearing Agent Problem. However, it is a problem we solve by recognizing the role that conscious attention plays in making an action the agent’s own. Accordingly, I develop and defend an attentional account of action ownership. On this view, allocating conscious attention in service of your goals is sufficient for a kind of conscious perspective (“motivational perspective”), which, when active in controlling your behaviour, constitutes the behaviour as your own doing. As I explain, such perspective also contributes to explaining the subjective structure of your perceptual awareness of the world around you