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Evaluating Integration Strategies for Visuo-Haptic Object Recognition.
Cognitive Computation ( IF 5.4 ) Pub Date : 2017-12-28 , DOI: 10.1007/s12559-017-9536-7
Sibel Toprak 1 , Nicolás Navarro-Guerrero 1 , Stefan Wermter 1
Affiliation  

In computational systems for visuo-haptic object recognition, vision and haptics are often modeled as separate processes. But this is far from what really happens in the human brain, where cross- as well as multimodal interactions take place between the two sensory modalities. Generally, three main principles can be identified as underlying the processing of the visual and haptic object-related stimuli in the brain: (1) hierarchical processing, (2) the divergence of the processing onto substreams for object shape and material perception, and (3) the experience-driven self-organization of the integratory neural circuits. The question arises whether an object recognition system can benefit in terms of performance from adopting these brain-inspired processing principles for the integration of the visual and haptic inputs. To address this, we compare the integration strategy that incorporates all three principles to the two commonly used integration strategies in the literature. We collected data with a NAO robot enhanced with inexpensive contact microphones as tactile sensors. The results of our experiments involving every-day objects indicate that (1) the contact microphones are a good alternative to capturing tactile information and that (2) organizing the processing of the visual and haptic inputs hierarchically and in two pre-processing streams is helpful performance-wise. Nevertheless, further research is needed to effectively quantify the role of each identified principle by itself as well as in combination with others.

中文翻译:

评估Visuo-触觉对象识别的集成策略。

在用于视觉-触觉对象识别的计算系统中,视觉和触觉通常被建模为单独的过程。但这与人脑中发生的情况相去甚远,在人脑中,这两种感觉方式之间发生了交叉以及多模式的相互作用。通常,可以识别出三个主要原理作为大脑中与视觉和触觉物体相关的刺激的处理基础:(1)分级处理;(2)处理在子流上的扩散,以实现对象形状和物质感知;以及( 3)集成神经回路的经验驱动的自组织。问题是,对象识别系统是否可以通过采用这些灵感来自大脑的处理原理来整合视觉和触觉输入,从而在性能方面受益?为了解决这个问题,我们将整合了这三种原理的整合策略与文献中的两种常用整合策略进行了比较。我们使用NAO机器人收集数据,该机器人配备了廉价的接触式麦克风作为触觉传感器。我们涉及日常对象的实验结果表明:(1)接触式麦克风是捕获触觉信息的不错选择,并且(2)分层组织视觉和触觉输入的处理,并在两个预处理流中进行处理是有帮助的性能方面。然而,需要进一步研究以有效地量化每个已确定原则的作用本身以及与其他原则的结合。我们使用NAO机器人收集数据,该机器人配备了廉价的接触式麦克风作为触觉传感器。我们涉及日常对象的实验结果表明:(1)接触式麦克风是捕获触觉信息的不错选择,并且(2)分层组织视觉和触觉输入的处理,并在两个预处理流中进行处理是有帮助的性能方面。然而,需要进一步研究以有效地量化每个已确定原则的作用本身以及与其他原则的结合。我们使用NAO机器人收集数据,该机器人配备了廉价的接触式麦克风作为触觉传感器。我们涉及日常对象的实验结果表明:(1)接触式麦克风是捕获触觉信息的不错选择,并且(2)分层组织视觉和触觉输入的处理,并在两个预处理流中进行处理是有帮助的性能方面。然而,需要进一步研究以有效地量化每个已确定原则的作用本身以及与其他原则的结合。我们涉及日常对象的实验结果表明:(1)接触式麦克风是捕获触觉信息的不错选择,并且(2)分层组织视觉和触觉输入的处理,并在两个预处理流中进行处理是有帮助的性能方面。然而,需要进一步研究以有效地量化每个已确定原则的作用本身以及与其他原则的结合。我们涉及日常对象的实验结果表明:(1)接触式麦克风是捕获触觉信息的不错选择,并且(2)分层组织视觉和触觉输入的处理,并在两个预处理流中进行处理是有帮助的性能方面。然而,需要进一步研究以有效地量化每个已确定原则的作用本身以及与其他原则的结合。
更新日期:2017-12-28
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