TY - GEN
T1 - Biologically inspired vision for indoor robot navigation
AU - Saleiro, Mario
AU - Terzić, Kasim
AU - Lobato, David
AU - Rodrigues, J. M.F.
AU - du Buf, J. M.H.
PY - 2014/1/1
Y1 - 2014/1/1
N2 - Ultrasonic, infrared, laser and other sensors are being applied in robotics. Although combinations of these have allowed robots to navigate, they are only suited for specific scenarios, depending on their limitations. Recent advances in computer vision are turning cameras into useful low-cost sensors that can operate in most types of environments. Cameras enable robots to detect obstacles, recognize objects, obtain visual odometry, detect and recognize people and gestures, among other possibilities. In this paper we present a completely biologically inspired vision system for robot navigation. It comprises stereo vision for obstacle detection, and object recognition for landmark-based navigation. We employ a novel keypoint descriptor which codes responses of cortical complex cells. We also present a biologically inspired saliency component, based on disparity and colour.
AB - Ultrasonic, infrared, laser and other sensors are being applied in robotics. Although combinations of these have allowed robots to navigate, they are only suited for specific scenarios, depending on their limitations. Recent advances in computer vision are turning cameras into useful low-cost sensors that can operate in most types of environments. Cameras enable robots to detect obstacles, recognize objects, obtain visual odometry, detect and recognize people and gestures, among other possibilities. In this paper we present a completely biologically inspired vision system for robot navigation. It comprises stereo vision for obstacle detection, and object recognition for landmark-based navigation. We employ a novel keypoint descriptor which codes responses of cortical complex cells. We also present a biologically inspired saliency component, based on disparity and colour.
KW - Biologically inspired vision
KW - Object recognition
KW - Robotics
KW - Stereo vision
UR - http://www.scopus.com/inward/record.url?scp=84908674660&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-11755-3_52
DO - 10.1007/978-3-319-11755-3_52
M3 - Conference contribution
AN - SCOPUS:84908674660
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 469
EP - 477
BT - Image Analysis and Recognition - 11th International Conference, ICIAR 2014, Proceedings
PB - Springer-Verlag
T2 - 11th International Conference on Image Analysis and Recognition, ICIAR 2014
Y2 - 22 October 2014 through 24 October 2014
ER -