An Integrated, Modular Framework for Computer Vision and Cognitive Robotics Research (icVision)

We present an easy-to-use, modular framework for performing computer vision related tasks in support of cognitive robotics research on the iCub humanoid robot. The aim of this biologically inspired, bottom-up architecture is to facilitate research towards visual perception and cognition processes, especially their influence on robotic object manipulation and environment interaction. The icVision framework described provides capabilities for detection of objects in the 2D image plane and locate those objects in 3D space to facilitate the creation of a world model.

[1]  Mikhail Frank,et al.  Learning spatial object localization from vision on a humanoid robot , 2012 .

[2]  Bernhard P. Wrobel,et al.  Multiple View Geometry in Computer Vision , 2001 .

[3]  J. Miller.  An empirical study of the efficiency of learning boolean functions using a Cartesian Genetic Programming approach , 1999 .

[4]  N. Drasdo.  Eye, brain, and vision David H. Hubel Scientific American Library Book — distributed by W. H. Freeman, New York, £15.95 , 1990 .

[5]  Jürgen Leitner,et al.  Cartesian Genetic Programming for Image Processing , 2013 .

[6]  Nikolaos G. Tsagarakis,et al.  iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research , 2007, Adv. Robotics.

[7]  Jürgen Leitner,et al.  The Modular Behavioral Environment for Humanoids and other Robots (MoBeE) , 2012, ICINCO.

[8]  Giorgio Metta,et al.  YARP: Yet Another Robot Platform , 2006 .

[9]  Jürgen Leitner,et al.  Autonomous learning of robust visual object detection and identification on a humanoid , 2012, 2012 IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL).

[10]  Giulio Sandini,et al.  The iCub humanoid robot: An open-systems platform for research in cognitive development , 2010, Neural Networks.

[11]  Jürgen Leitner,et al.  Mars terrain image classification using Cartesian genetic programming , 2012 .

[12]  Jürgen Leitner,et al.  Transferring spatial perception between robots operating in a shared workspace , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  J. Wensveen,et al.  EYE, BRAIN, AND VISION , 1995 .

[14]  Julian Francis Miller,et al.  Cartesian genetic programming , 2010, GECCO.