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Interactive Perception: Leveraging Action in Perception and Perception in Action

Jeannette Bohg, Karol Hausman, Bharath Sankaran, Oliver Brock, Danica Kragic, Stefan Schaal, Gaurav S. Sukhatme
2017 IEEE Transactions on robotics  
We also provide an overview of the most important applications of Interactive Perception. We close this survey by discussing remaining open questions.  ...  Recent approaches in robotics follow the insight that perception is facilitated by interaction with the environment. These approaches are subsumed under the term of Interactive Perception (IP).  ...  [42] Articulation Model Estimation Jain and Kemp [94] Sturm et al. [95] Martín Martín and Brock [96] Katz and Brock [97] Hausman et al. [98] Pillai et al. [99] Barragán et al.  ... 
doi:10.1109/tro.2017.2721939 fatcat:6c5n5bkkmfdp5kjhmfkoi22hmu

Active articulation model estimation through interactive perception

Karol Hausman, Scott Niekum, Sarah Osentoski, Gaurav S. Sukhatme
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
The presented method provides a probabilistic model that integrates visual observations with feedback from manipulation actions to best characterize a distribution of possible articulation models.  ...  We introduce a particle filter-based approach to representing and actively reducing uncertainty over articulated motion models.  ...  ACKNOWLEDGEMENT This work was funded in part by the NSF under grant IIS-1208497. We would like thank Jörg Müller for his very helpful input.  ... 
doi:10.1109/icra.2015.7139655 dblp:conf/icra/HausmanNOS15 fatcat:7rfvc3dfobgdxi4kxqmj7gsiim

"Of thee I sing": An opening to Dominique Boutet's kinesiological approach to gesture

Aliyah Morgenstern, Lea Chevrefils, Marion Blondel, Coralie Vincent, Chloé Thomas, Jean-François Jego, Dominique Boutet
2021 Languages and Modalities  
The meaning of our gestural productions is the produce of our body, as it is naturally articulated, imprinted as it is by our past experiences.  ...  by bodily physiology.  ...  This allowed us to explore form-function pairings and to conduct automatic extraction with formal criteria with much more rigor and without depending solely on our visual perception.  ... 
doi:10.3897/lamo.1.68148 fatcat:q3kv3v57c5f3le6bbcbjhcy5we

The Dynamics of Audiovisual Behavior in Speech [chapter]

Eric Vatikiotis-Bateson, Kevin G. Munhall, Makoto Hirayama, Y. Victor Lee, Demetri Terzopoulos
1996 Speechreading by Humans and Machines  
Since the biomechanical linkage between the facial and vocal tract systems is one of close proximity and shared physiology, we propose that physiological models of speech and facial motion be integrated  ...  Support for this is drawn from our recent studies of the eye movements of perceivers during a variety of audiovisual speech perception tasks.  ...  integration).  ... 
doi:10.1007/978-3-662-13015-5_16 fatcat:m33g5cja3jdmrdxk57hlifz2ey

Biologically-Inspired Computational Neural Mechanism for Human Action/activity Recognition: A Review

Bardia Yousefi, Chu Kiong Loo
2019 Electronics  
Theoretical neuroscience investigation shows valuable information on the mechanism for recognizing the biological movements in the mammalian visual system.  ...  This involves many different fields of researches such as psychological, neurophysiology, neuro-psychological, computer vision, and artificial intelligence (AI).  ...  Motion Pathway The motion perception has been investigated in the aspect of psychology by Giese (2014) who showed that body motion perception needs an integration of multiple visual processes involving  ... 
doi:10.3390/electronics8101169 fatcat:v6cuchycurd2xg7cx545dwujy4

Trajectory Recognition as the Basis for Object Individuation: A Functional Model of Object File Instantiation and Object-Token Encoding

Chris Fields
2011 Frontiers in Psychology  
The perception of persisting visual objects is mediated by transient intermediate representations, object files, that are instantiated in response to some, but not all, visual trajectories.  ...  positions that are specifically identified as trajectories by dedicated "trajectory recognition networks" downstream of the medial-temporal motion-detection area.  ...  The rapid perception of point-light displays as coherently moving objects indicates that, at least in the case of visual perception by human beings, these sets do not have to be compact and the segments  ... 
doi:10.3389/fpsyg.2011.00049 pmid:21716599 pmcid:PMC3110880 fatcat:5ylrj4cz2zblvphjizxcfmowhe

Perceptual organization in computer vision: a review and a proposal for a classificatory structure

S. Sarkar, K.L. Boyer
1993 IEEE Transactions on Systems, Man and Cybernetics  
The evolution of perceptual organization in biological vision, and its necessity in advanced computer vision systems, arises from the characteristic that perception, the extraction of meaning from sensory  ...  Thirdly, the perceptual organization work in computer vision in the context of this classificatory structure is reviewed.  ...  Mirza for pointing out some of the work in range image understanding.  ... 
doi:10.1109/21.229452 fatcat:ivufwdix4bgrdim476wcgefdgy

From Robot Arm to Intentional Agent: the Articulated Head [chapter]

Christian Kroos, Damith C., Stelarc
2011 Robot Arms  
Yu et al. (2007) , for instance, devised an attention-based method to segment specified object contours from the image motion produced by the egomotion of a mobile robot.  ...  criteria) are imposed.  ... 
doi:10.5772/16383 fatcat:nbjak72rejbljf2xthtcjznbom

Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments

Jörg Stückler, Ricarda Steffens, Dirk Holz, Sven Behnke
2013 Robotics and Autonomous Systems  
For 3D perception of objects on planar surfaces, we develop scene segmentation methods that process depth images in real-time at high frame rates.  ...  We evaluate our approaches quantitatively in lab experiments and also report on the successful integration of our methods in public demonstrations at RoboCup@Home competitions in 2011 and 2012.  ...  Acknowledgements This research has been partially funded by the FP7 ICT-2007.2.2 project ECHORD (grant agreement 231143) experiment ActReMa.  ... 
doi:10.1016/j.robot.2012.08.003 fatcat:r2jg7vmm5zch5glic7ipfnzsve

A century of Gestalt psychology in visual perception: I. Perceptual grouping and figure–ground organization

Johan Wagemans, James H. Elder, Michael Kubovy, Stephen E. Palmer, Mary A. Peterson, Manish Singh, Rüdiger von der Heydt
2012 Psychological bulletin  
After an integrated review of the neural mechanisms involved in contour grouping, border ownership, and figure-ground perception, we conclude by evaluating what modern vision science has offered compared  ...  We then review classic and new image-based principles of figure-ground organization, how it is influenced by past experience and attention, and how it relates to shape and depth perception.  ...  Articulating motion.  ... 
doi:10.1037/a0029333 pmid:22845751 pmcid:PMC3482144 fatcat:ob2i5wa6zzf37gg5fqnoo3tonu

Seeing surfaces: The brain's vision of the world

Heiko Neumann, Arash Yazdanbakhsh, Ennio Mingolla
2007 Physics of Life Reviews  
Surfaces create structure in patterns of light available for sampling by visual systems, and delineate potential interactions that an animal can have with its environment, such as approaching goals, avoiding  ...  Recent progress in modeling the perception of visual surfaces highlights the importance of feedforward and feedback connections in visual neural networks that segregate and group visual input into coherent  ...  Acknowledgements HN was supported in part by the European Union (EU FP6 IST Cognitive Systems Integrated project: Neural Decision-Making in Motion; project number 027198).  ... 
doi:10.1016/j.plrev.2007.09.001 fatcat:r6r72yzg5bcyrmyg52nroupuri

DIGITAL DOCUMENTATION'S ONTOLOGY: CONTEMPORARY DIGITAL REPRESENTATIONS AS EXPRESS AND SHARED MODELS OF REGENERATION AND RESILIENCE IN THE PLATFORM BIM/CONTAMINATED HYBRID REPRESENTATION

A. De Masi
2021 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
The study illustrates a university research project of "Digital Documentation's Ontology", to be activated with other universities, of an Platform (P) – Building Information Modeling (BIM) articulated  ...  , adapted to a different information density in the digital multi-scale production, is intended as platform (grid of data and information at different scales, semantic structure from web content, data  ...  3D laser scanner time of flight with Structure from Motion; in particular, photogrammetry of points of interest, meshing of photogrammetry in order to create points of interest, generation of cloud points  ... 
doi:10.5194/isprs-archives-xlvi-m-1-2021-189-2021 fatcat:ql3jxwium5h7zjavv6y5rfuabq

Online interactive perception of articulated objects with multi-level recursive estimation based on task-specific priors

Roberto Martin-Martin, Oliver Brock
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We present an RGB-D-based online algorithm for the interactive perception of articulated objects.  ...  The algorithm decomposes the perception problem into three interconnected levels of recursive estimation.  ...  Yan and Pollefeys [9] propose an integrated approach for segmentation and joint detection.  ... 
doi:10.1109/iros.2014.6942902 dblp:conf/iros/MartinB14 fatcat:qo2sg232yjeivhb344ezftv5ua

Music Cognition, Semiotics and the Experience of Time: Ontosemantical and Epistemological Claims

Mark Reybrouck
2004 Journal of New Music Research  
An attempt is finally made to provide a formal description of dealing with music that objectifies the temporal unfolding of sound under the guise of presentational immediacy and as a kind of synthetic  ...  Central questions involve the conceptual construction of time, the role of non-objectivist as against objectivist cognition, and the role of cognitive mediation and imagery in music cognition.  ...  of the criteria of sustaining and articulation of the energy.  ... 
doi:10.1080/0929821052000343877 fatcat:6nyzblguzzde7b5ezilb4gmcue

Attention modulates spatio-temporal grouping

Murat Aydın, Michael H. Herzog, Haluk Öğmen
2011 Vision Research  
Ternus-Pikler displays can give rise to two different motion percepts, called Element Motion (EM) and Group Motion (GM), the former dominating at short Inter-Stimulus Intervals (ISIs) and the latter at  ...  Different theoretical accounts of perceptual grouping and attention are discussed and evaluated in the light of the current results.  ...  Acknowledgment This work was supported in part by award number R01 EY018165 from NIH.  ... 
doi:10.1016/j.visres.2010.12.013 pmid:21266181 pmcid:PMC3050093 fatcat:42iejc3rqnhulhllbs5ykdnnuq
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