CORE
🇺🇦
make metadata, not war
Services
Services overview
Explore all CORE services
Access to raw data
API
Dataset
FastSync
Content discovery
Recommender
Discovery
OAI identifiers
OAI Resolver
Managing content
Dashboard
Bespoke contracts
Consultancy services
Support us
Support us
Membership
Sponsorship
Community governance
Advisory Board
Board of supporters
Research network
About
About us
Our mission
Team
Blog
FAQs
Contact us
research
A SOLID case for active bayesian perception in robot touch
Authors
N.F. Lepora
U. Martinez-Hernandez
T.J. Prescott
Publication date
1 January 2013
Publisher
'Springer Science and Business Media LLC'
Doi
Abstract
In a series of papers, we have formalized a Bayesian perception approach for robotics based on recent progress in understanding animal perception. The main principle is to accumulate evidence for multiple perceptual alternatives until reaching a preset belief threshold, formally related to sequential analysis methods for optimal decision making. Here, we extend this approach to active perception, by moving the sensor with a control strategy that depends on the posterior beliefs during decision making. This method can be used to solve problems involving Simultaneous Object Localization and IDentification (SOLID), or 'where and what'. Considering an example in robot touch, we find that active perception gives an efficient, accurate solution to the SOLID problem for uncertain object locations; in contrast, passive Bayesian perception, which lacked sensorimotor feedback, then performed poorly. Thus, active perception can enable robust sensing in unstructured environments. © 2013 Springer-Verlag Berlin Heidelberg
Similar works
Full text
Open in the Core reader
Download PDF
Available Versions
White Rose Research Online
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:eprints.whiterose.ac.uk:10...
Last time updated on 02/02/2021
Supporting member
Explore Bristol Research
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:research-information.bris....
Last time updated on 17/09/2019
White Rose Research Online
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:eprints.whiterose.ac.uk:10...
Last time updated on 22/02/2017