The SENROB vision-system and its philosophy

摘要

Objects arbitrarily positioned within the working space of our MANUTEC r2 robot are detected and foveated by a colour TV-camera mounted close to the robot's hand. Previously learnt objects are recognized and gripped while unknown objects are included into the system by feeding the name of the object. Neural representations of regions, contours, corners, and colours are learnt by only one presentation. Invariances are due to parametric mappings controlled by estimated values of orientation and distance. All components of the architecture are massively parallel, and the system provides high reliability and accuracy.