Self-calibrating active depth perception via motion parallax

Tanapol Prucksakorn, Sungmoon Jeong, Jochen Triesch, Hosun Lee, Nak Young Chong

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

A hallmark of biological systems is their ability to self-calibrate sensory-motor loops during their development. Understanding the principles of such self-calibration will enable the design of robots with similar autonomous learning abilities. Here we consider the problem of active depth perception based on motion parallax. When an observer moves sideways while looking at an object with a single eye, the eye rotation necessary to keep the object at the center of gaze provides information about the object's distance. Based on the recently proposed active efficient coding (AEC) approach, we present a self-calibrating system which autonomously learns to represent image motion and perform compensatory eye rotations to keep the object fixated during side-to-side movements - thereby learning to actively estimate the object's distance. A neural network is used to provide a calibrated depth estimate. We evaluate the system's performance in simulation and in a hardware implementation.

Original languageEnglish
Title of host publication2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages103-108
Number of pages6
ISBN (Electronic)9781509050697
DOIs
StatePublished - 7 Feb 2017
Event2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016 - Cergy-Pontoise, France
Duration: 19 Sep 201622 Sep 2016

Publication series

Name2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016

Conference

Conference2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016
Country/TerritoryFrance
CityCergy-Pontoise
Period19/09/1622/09/16

Keywords

  • Active Depth Perception
  • Active Efficient Coding
  • Autonomous Learning
  • Motion Parallax
  • Self-Calibration

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