A Portable Active Binocular Robot Vision Architecture for Scene Exploration

Khan, A., Aragon-Camarasa, G. and Siebert, J. P. (2016) A Portable Active Binocular Robot Vision Architecture for Scene Exploration. In: 17th Towards Autonomous Robotic Systems (TAROS-16), Sheffield, UK, 28-30 June 2016, pp. 214-225. ISBN 9783319403786 (doi:10.1007/978-3-319-40379-3_22)

118631.pdf - Accepted Version



We present a portable active binocular robot vision archi- tecture that integrates a number of visual behaviours. This vision archi- tecture inherits the abilities of vergence, localisation, recognition and si- multaneous identification of multiple target object instances. To demon- strate the portability of our vision architecture, we carry out qualitative and comparative analysis under two different hardware robotic settings, feature extraction techniques and viewpoints. Our portable active binoc- ular robot vision architecture achieved average recognition rates of 93.5% for fronto-parallel viewpoints and, 83% percentage for anthropomorphic viewpoints, respectively.

Item Type:Conference Proceedings
Additional Information:Funding by The College of Science and Engineering Scholarships Gerardo Aragon Camarasa: AlSSan, the European Union Programme of High Level Scholarships for Latin America, scholarship no. E07D400872MX and CONACYT-Mexico
Glasgow Author(s) Enlighten ID:Aragon Camarasa, Dr Gerardo and Khan, Dr Aamir and Siebert, Dr Paul
Authors: Khan, A., Aragon-Camarasa, G., and Siebert, J. P.
College/School:College of Science and Engineering > School of Computing Science
Published Online:21 June 2016
Copyright Holders:Copyright © 2016 Springer International Publishing
First Published:First published in Lecture Notes in Computer Science 9716: 214-225
Publisher Policy:Reproduced in accordance with the publisher copyright policy
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