acrv research fellow intro/tutorial [vision and action]
TRANSCRIPT
http://roboticvision.org/
[VA Theme] Improving Robot Vision through Interaction
Juxi Leitner <[email protected]>
http://roboticvision.org/2
Work Juxi Leitner
PhD Informatics / Intelligent Systems
MSc Space Robotics & Automation
BSc Information & Software Engineering
Intelligent (Space) Robots European Space Agency (ESA)
Erasmus Intelligent Systems
Work (Humanoid) Robot VisionInstituto Superior Técnico (IST)
Mobility Intelligent Space Systems Laboratory
About MeWork Autonomous & Intelligent Humanoids
Dalle Molle Institute for AI (IDSIA)
h"p://Juxi.net
http://roboticvision.org/
6
image based visual servoing
Robotics, Vision and Control. P. Corke, Springer 2011
(15.6)
(11.10)
= pixel movement based on cam motion
invert it and get a simple controller!
(15.11)
http://roboticvision.org/
7
Reactive Reaching and Grasping on a Humanoid: Towards Closing the Action-Perception Loop on the iCub. Jürgen Leitner, Mikhail Frank, Alexander Förster, Jürgen Schmidhuber. ICINCO 2014.
http://roboticvision.org/
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viewpoint change
manipulation action
improved reconstruction
better classification
improved semantics
http://roboticvision.org/9
case #1 learning
from supervised to robotic-assisted unsupervised learning
Autonomous Learning Of Robust Visual Object Detection And Identification On A Humanoid. J. Leitner, P. Chandrashekhariah, S. Harding, M. Frank, G. Spina, A. Förster, J. Triesch, J. Schmidhuber. ICDL/EpiRob 2012.