Pose Estimation Through Cue Integration: A Neuroscience-Inspired Approach

E. Chinellato, B. J. Grzyb, A. P. del Pobil
2012 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
The aim of this paper is to improve the skills of robotic systems in their interaction with nearby objects. The basic idea is to enhance visual estimation of objects in the world through the merging of different visual estimators of the same stimuli. A neuroscience-inspired model of stereoptic and perspective orientation estimators, merged according to different criteria, is implemented on a robotic setup and tested in different conditions. Experimental results suggest that the integration of
more » ... ltiple monocular and binocular cues can make robot sensory systems more reliable and versatile. The same results, compared with simulations and data from human studies, show that the model is able to reproduce some well-recognized neuropsychological effects.
doi:10.1109/tsmcb.2011.2168952 pmid:22027389 fatcat:oocdt4p24rhl5ghqj73mdqgtnu