Breaking Out of the Black Box: A New Approach to Robot Perception

Created by W.Langdon from gp-bibliography.bib Revision:1.8051

@Misc{Martin_1998_3062,

• author = "Martin C. Martin",
• title = "Breaking Out of the Black Box: A New Approach to Robot Perception",
• school = "Robotics Institute, Carnegie Mellon University",
• month = jan,
• year = "1998",
• address = "Pittsburgh, PA, USA",
• note = "Thesis proposal",
• keywords = "genetic algorithms, genetic programming",
• URL = "http://www.ri.cmu.edu/pub_files/pub2/martin_martin_c_1998_1/martin_martin_c_1998_1.pdf",
• URL = "http://www.ri.cmu.edu/pub_files/pub2/martin_martin_c_1998_1/martin_martin_c_1998_1.ps.gz",
• size = "28 pages",
• abstract = "Surprisingly, the state of the art in avoiding obstacles using only vision--not sonar or laser rangefinders--is roughly half an hour between collisions (at 30 cm/s, in an office environment). After review ing the design and failure modes of several current systems, I compare psychology's understanding of perception to current computer/robot perception. There are fundamental differences--which lead to fundamental limitations with current computer perception. The key difference is that robot software is built out of {"}black boxes{"}, which have very restricted interactions with each other. In contrast, the human perceptual system is much more integrated. The claim is that a robot that performs any significant task, and does it as well as a person, can not be created out of {"}black boxes.{"} In fact, it would probably be too interconnected to be designed by hand--instead, tools will be needed to create such designs. To illustrate this idea, I propose to create a visual obstacle avoidence system on the Uranus mobile robot. The system uses a number of visual depth cues at each pixel, as well as depth cues from neighbouring pixels and previous depth estimates. Genetic Programming is used to combine these into a new depth estimate. The system learns by predicting both sonar readings and the next image. The design of the system is described, and design decisions are rationalized.",
• notes = "see also http://citeseer.ist.psu.edu/302181.html",

}

Genetic Programming entries for Martin C Martin

Citations