Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Engineering
A Cognitive Approach To Vision For A Mobile Robot, Paul Benjamin, Christopher Funk, Damian M. Lyons
A Cognitive Approach To Vision For A Mobile Robot, Paul Benjamin, Christopher Funk, Damian M. Lyons
Faculty Publications
We describe a cognitive vision system for a mobile robot. This system works in a manner similar to the human vision system, using saccadic, vergence and pursuit movements to extract information from visual input. At each fixation, the system builds a 3D model of a small region, combining information about distance, shape, texture and motion. These 3D models are embedded within an overall 3D model of the robot's environment. This approach turns the computer vision problem into a search problem, with the goal of constructing a physically realistic model of the entire environment. At each step, the vision system selects …
Using A Virtual World For Robot Planning, D. Paul Benjamin, John V. Monaco, Yixia Lin, Christopher Funk, Damian M. Lyons
Using A Virtual World For Robot Planning, D. Paul Benjamin, John V. Monaco, Yixia Lin, Christopher Funk, Damian M. Lyons
Faculty Publications
We are building a robot cognitive architecture that constructs a real-time virtual copy of itself and its environment, including people, and uses the model to process perceptual information and to plan its movements. This paper describes the structure of this architecture. The software components of this architecture include PhysX for the virtual world, OpenCV and the Point Cloud Library for visual processing, and the Soar cognitive architecture that controls the perceptual processing and task planning. The RS (Robot Schemas) language is implemented in Soar, providing the ability to reason about concurrency and time. This Soar/RS component controls visual processing, deciding …