A Deep Neural Network for Finger Counting and Numerosity Estimation

In this paper, we present neuro-robotics models with a deep artificial neural network capable of generating finger counting positions and number estimation. We first train the model in an unsupervised manner where each layer is treated as a Restricted Boltzmann Machine or an autoencoder. Such a model is further trained in a supervised way. This type of pretraining is tested on our baseline model and two methods of pre-training are compared. The network is extended to produce finger counting positions. The performance in number estimation of such an extended model is evaluated. We test the hypothesis if the subitizing process can be obtained by one single model used also for estimation of higher numerosities. The results confirm the importance of unsupervised training in our enumeration task and show some similarities to human behaviour in the case of subitizing