http://roboticvision.org/

[VA Theme] Improving Robot Vision through Interaction

Juxi Leitner <j.leitner@roboticvision.org>

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/

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http://roboticvision.org/

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image - based

feature extraction

visual servoing

camera image

http://roboticvision.org/

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http://roboticvision.org/

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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/

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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.

http://roboticvision.org/10

manipulation for improved perception

http://roboticvision.org/11

case #2 poking

segmentation before & after action

http://roboticvision.org/12

http://roboticvision.org/

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Thank You!