Search results for "Visual Object Recognition"
showing 10 items of 50 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.
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…
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…
Impairments in top down attentional processes in right parietal patients: Paradoxical functional facilitation in visual search
2014
AbstractIt is well known that the right posterior parietal cortex (PPC) is involved in attentional processes, including binding features. It remains unclear whether PPC is implicated in top-down and/or bottom-up components of attention. We aim to clarify this by comparing performance of seven PPC patients and healthy controls (HC) in a visual search task involving a conflict between top-down and bottom-up processes. This task requires essentially a bottom-up feature search. However, top-down attention triggers feature binding for object recognition, designed to be irrelevant but interfering to the task. This results in top-down interference, prolonging the search reaction time. This interfe…
Did you see that? Dissociating advanced visual information and ball flight constrains perception and action processes during one-handed catching
2013
The integration of separate, yet complimentary, cortical pathways appears to play a role in visual perception and action when intercepting objects. The ventral system is responsible for object recognition and identification, while the dorsal system facilitates continuous regulation of action. This dual-system model implies that empirically manipulating different visual information sources during performance of an interceptive action might lead to the emergence of distinct gaze and movement pattern profiles. To test this idea, we recorded hand kinematics and eye movements of participants as they attempted to catch balls projected from a novel apparatus that synchronised or de-synchronised ac…
Hybrid architecture for shape reconstruction and object recognition
1998
The proposed architecture is aimed to recover 3-D- shape information from gray-level images of a scene; to build a geometric representation of the scene in terms of geometric primitives; and to reason about the scene. The novelty of the architecture is in fact the integration of different approaches: symbolic reasoning techniques typical of knowledge representation in artificial intelligence, algorithmic capabilities typical of artificial vision schemes, and analogue techniques typical of artificial neural networks. Experimental results obtained by means of an implemented version of the proposed architecture acting on real scene images are reported to illustrate the system capabilities.