Beyond saccadic movements for interactive perception in robotics

Author

Durán Bosch, Angel Juan

Director

Pascual del Pobil Ferré, Angel

Tutor

Pascual del Pobil Ferré, Angel

Date of defense

2022-10-24

Pages

338 p.



Department/Institute

Universitat Jaume I. Escola de Doctorat

Doctorate programs

Programa de Doctorat en Informàtica

Abstract

This thesis takes inspiration from biology to replicate in robots the oculomotor strategies humans and other species use to acquire visual information. Firstly, it establishes the foundations of the work by reviewing current knowledge on the primate oculomotor system, the state of the art on adaptive learning in artificial neural networks, and the main types of robotic heads that would enable imitation of eye movements. Afterwards, the thesis goes in detail on selecting a specific head configuration, developing algorithms for the generation of accurate saccades, and developing internal models that are generalizable across different robotic instantiations. The acquired knowledge is then applied to the specific task of using saccadic gaze shifts to extract depth information from the scene.

Keywords

Saccadic movements; Intercative perception; Bio-inspired robotics; Sensorimotor development; Cognitive vision; Monocular depth estimation

Subjects

004 - Computer science and technology. Computing. Data processing

Knowledge Area

Enginyeria, industria i construcció

Note

Doctorat internacional

Documents

2022_Tesis_Durán Bosch_Angel Juan.pdf

34.41Mb

 

Rights

L'accés als continguts d'aquesta tesi queda condicionat a l'acceptació de les condicions d'ús establertes per la següent llicència Creative Commons: http://creativecommons.org/licenses/by-sa/4.0/
L'accés als continguts d'aquesta tesi queda condicionat a l'acceptació de les condicions d'ús establertes per la següent llicència Creative Commons: http://creativecommons.org/licenses/by-sa/4.0/

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