Learning Predictive Features in Affordance based Robotic Perception Systems

摘要

This work is about the relevance of Gibson's concept of affordances for visual perception in interactive and autonomous robotic systems. In extension to existing functional views on visual feature representations, we identify the importance of learning in perceptual cueing for the anticipation of opportunities for interaction of robotic agents. We investigate how the originally defined representational concept for the perception of affordances - in terms of using either optical flow or heuristically determined 3D features of perceptual entities should be generalized to using arbitrary visual feature representations. In this context we demonstrate the learning of causal relationships between visual cues and predictable interactions, and emphasize on a novel framework for cueing and hypothesis verification of affordances that could play an important role in future robot control architectures. We argue that affordance based perception should enable systems to react to environment stimuli both more efficient and autonomous, and provide a potential to plan on the basis of responses to more complex perceptual configurations. We verify the concept with a concrete implementation applying state-of-the-art visual descriptors and regions of interest within a simulated robot scenario and prove that these features were successfully selected for predicting opportunities of robot interaction