Vision based context categorization for all-terrain robot

Detalhes bibliográficos
Autor(a) principal: Chaínho, David Alexandre Calado Pereira
Data de Publicação: 2010
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10362/5677
Resumo: Dissertation presented at the Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa to obtain the Master degree in Electrical and Computer Engineering.
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spelling Vision based context categorization for all-terrain robotDissertation presented at the Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa to obtain the Master degree in Electrical and Computer Engineering.This dissertation presents a model to allow an autonomous robot to incrementally learn associations between the global context in which it is immersed and the most important behaviours used by the robot in that specific context. In a way, the robot learns what opportunities can a given environment provide in terms of behaviour (e.g.,obstacle avoidance, trail following). The proposed model aims at helping the robot prioritising its perceptual resources, and consequently contributes to improve its visual capabilities or skills. In order to capture the global context, a gist mechanism is used to obtain a global descriptor of the scene. The focus on affordances,rather than on objects, i.e., associating context with behaviour instead on the objects that activate the behaviours, enables a self-supervised learning mechanism without assuming the existence of symbolic object representations, thus facilitating the integration of the model on a developmental framework. The focus on affordances also contributes to our understanding on the role of sensorimotor coordination in the organisation of adaptive behaviour. Positive results are obtained with a physical experiment in a natural environment, where a handheld camera was transported as if it was being carried by an actual robot with a set of predefined behaviours, such as obstacle avoidance, trail following, and wandering.Faculdade de Ciências e TecnologiaOliveira, JoséRUNChaínho, David Alexandre Calado Pereira2011-05-26T13:44:03Z20102010-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10362/5677enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-03-11T03:36:25Zoai:run.unl.pt:10362/5677Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:16:26.362884Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Vision based context categorization for all-terrain robot
title Vision based context categorization for all-terrain robot
spellingShingle Vision based context categorization for all-terrain robot
Chaínho, David Alexandre Calado Pereira
title_short Vision based context categorization for all-terrain robot
title_full Vision based context categorization for all-terrain robot
title_fullStr Vision based context categorization for all-terrain robot
title_full_unstemmed Vision based context categorization for all-terrain robot
title_sort Vision based context categorization for all-terrain robot
author Chaínho, David Alexandre Calado Pereira
author_facet Chaínho, David Alexandre Calado Pereira
author_role author
dc.contributor.none.fl_str_mv Oliveira, José
RUN
dc.contributor.author.fl_str_mv Chaínho, David Alexandre Calado Pereira
description Dissertation presented at the Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa to obtain the Master degree in Electrical and Computer Engineering.
publishDate 2010
dc.date.none.fl_str_mv 2010
2010-01-01T00:00:00Z
2011-05-26T13:44:03Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10362/5677
url http://hdl.handle.net/10362/5677
dc.language.iso.fl_str_mv eng
language eng
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eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Faculdade de Ciências e Tecnologia
publisher.none.fl_str_mv Faculdade de Ciências e Tecnologia
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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