Search results for "Object Recognition"
showing 10 items of 67 documents
UJI RobInLab's approach to the Amazon Robotics Challenge 2017
2017
This paper describes the approach taken by the team from the Robotic Intelligence Laboratory at Jaume I University to the Amazon Robotics Challenge 2017. The goal of the challenge is to automate pick and place operations in unstructured environments, specifically the shelves in an Amazon warehouse. RobInLab's approach is based on a Baxter Research robot and a customized storage system. The system's modular architecture, based on ROS, allows communication between two computers, two Arduinos and the Baxter. It integrates 9 hardware components along with 10 different algorithms to accomplish the pick and stow tasks. We describe the main components and pipelines of the system, along with some e…
2D/3D Object Recognition and Categorization Approaches for Robotic Grasping
2017
International audience; Object categorization and manipulation are critical tasks for a robot to operate in the household environment. In this paper, we propose new methods for visual recognition and categorization. We describe 2D object database and 3D point clouds with 2D/3D local descriptors which we quantify with the k-means clustering algorithm for obtaining the Bag of Words (BOW). Moreover, we develop a new global descriptor called VFH-Color that combines the original version of Viewpoint Feature Histogram (VFH) descriptor with the color quantization histogram, thus adding the appearance information that improves the recognition rate. The acquired 2D and 3D features are used for train…
Simulation Goals and Metrics Identification
2016
Agent-Based Modeling and Simulation (ABMS) is a very useful means for producing high quality models during simulation studies. When ABMS is part of a methodological ap- proach it becomes important to have a method for identifying the objectives of the simulation study in a disciplined fashion. In this work we propose a set of guidelines for properly capturing and representing the goals of the simulations and the metrics, allowing and evaluating the achievement of a simulation objective. We take inspiration from the goal-question-metric approach and with the aid of a specific problem formalization we are able to derive the right questions for relating simulation goals and metrics.
Design of a modular Autonomous Underwater Vehicle for archaeological investigations
2015
MARTA (MARine Tool for Archaeology) is a modular AUV (Autonomous Underwater Vehicle) designed and developed by the University of Florence in the framework of the ARROWS (ARchaeological RObot systems for the World's Seas) FP7 European project. The ARROWS project challenge is to provide the underwater archaeologists with technological tools for cost affordable campaigns: i.e. ARROWS adapts and develops low cost AUV technologies to significantly reduce the cost of archaeological operations, covering the full extent of an archaeological campaign (underwater mapping, diagnosis and cleaning tasks). The tools and methodologies developed within ARROWS comply with the "Annex" of the 2001 UNESCO Conv…
Topographic Independent Component Analysis reveals random scrambling of orientation in visual space
2017
Neurons at primary visual cortex (V1) in humans and other species are edge filters organized in orientation maps. In these maps, neurons with similar orientation preference are clustered together in iso-orientation domains. These maps have two fundamental properties: (1) retinotopy, i.e. correspondence between displacements at the image space and displacements at the cortical surface, and (2) a trade-off between good coverage of the visual field with all orientations and continuity of iso-orientation domains in the cortical space. There is an active debate on the origin of these locally continuous maps. While most of the existing descriptions take purely geometric/mechanistic approaches whi…
Dynamic longitudinal behavior in animals exposed to chronic social defeat stress
2020
AbstractChronic social defeat (CSD) can lead to impairments in social interaction and other behaviors that are supposed to model features of major depressive disorder (MDD). Not all animals subjected to CSD, however, develop these impairments, and maintained social interaction in some animals is widely used as a model for resilience to stress-induced mental dysfunctions. So far, animals have mainly been studied shortly (24 hours and 7 days) after CSD exposure and longitudinal development of behavioral phenotypes in individual animals has been mostly neglected. We have analyzed social interaction and novel object recognition behavior of stressed mice at different time points after CSD and ha…
Indomethacin counteracts the effects of chronic social defeat stress on emotional but not recognition memory in mice
2017
We have previously observed the impairing effects of chronic social defeat stress (CSDS) on emotional memory in mice. Given the relation between stress and inflammatory processes, we sought to study the effectiveness of the anti-inflammatory indomethacin in reversing the detrimental effects of CSDS on emotional memory in mice. The effects of CSDS and indomethacin on recognition memory were also evaluated. Male CD1 mice were randomly divided into four groups: non-stressed + saline (NS+SAL); non-stressed + indomethacin (NS+IND); stressed + saline (S+SAL); and stressed + indomethacin (S+IND). Stressed animals were exposed to a daily 10 min agonistic confrontation (CSDS) for 20 days. All subjec…
The influence of scene and object orientation on the scene consistency effect
2019
Abstract Contextual regularities help us make sense of our visual environment. In scenes, semantically consistent objects are typically better recognized than inconsistent ones (e.g., a toaster vs. printer in a kitchen). What is the role of object and scene orientation in this so-called scene consistency effect? We presented consistent and inconsistent objects either upright (Experiment 1) or inverted (rotated 180°; Experiment 2) on upright, inverted, and scrambled background scenes. In Experiment 1, on upright scenes, consistent objects were recognized with higher accuracy than inconsistent ones, and we observed N300/N400 event-related potentials (ERPs) reflecting object-scene semantic pro…
Facilitation of bottom-up feature detection following rTMS-interference of the right parietal cortex
2010
In visual search tasks the optimal strategy should utilize relevant information ignoring irrelevant one. When the information at the feature and object levels are in conflict, un-necessary processing at higher level of object shape can interfere with detection of lower level orientation feature. We explored the effects of inhibitory trains of transcranial magnetic stimulation (rTMS) on the right and left parietal cortex in healthy subjects performing two visual search tasks. One task (Task A) was characterised by an object-to-feature interference. The other task (Task B) was without such interference. We found that rTMS of the right parietal cortex significantly reduced reaction times (RTs)…
Separable neural bases for subprocesses of recognition in working memory.
2011
Working memory supports the recognition of objects in the environment. Memory models have postulated that recognition relies on 2 processes: assessing the degree of similarity between an external stimulus and memory representations and testing the resulting summed-similarity value against a critical level for recognition. Here, we varied the similarity between samples held in working memory and a probe to investigate these 2 processes with magnetoencephalography. Two separable components matched our expectations: First, from 280 ms after probe onset, clearly nonmatching probes differed from both similar nonmatches and matches over left frontal cortex. At 350--400 ms, these signals evolved i…