Staff Publications

Staff Publications

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    'Staff publications' is the digital repository of Wageningen University & Research

    'Staff publications' contains references to publications authored by Wageningen University staff from 1976 onward.

    Publications authored by the staff of the Research Institutes are available from 1995 onwards.

    Full text documents are added when available. The database is updated daily and currently holds about 240,000 items, of which 72,000 in open access.

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Record number 560999
Title 3D object perception and perceptual learning in the RACE project
Author(s) Oliveira, Miguel; Seabra Lopes, Luís; Lim, Gi Hyun; Kasaei, S.H.; Tomé, Ana Maria; Chauhan, Aneesh
Source Robotics and Autonomous Systems 75 (2016). - ISSN 0921-8890 - p. 614 - 626.
DOI https://doi.org/10.1016/j.robot.2015.09.019
Publication type Refereed Article in a scientific journal
Publication year 2016
Keyword(s) 3D object perception - Dual memory systems - Interactive learning - Open-ended learning - Point-Cloud Library
Abstract

This paper describes a 3D object perception and perceptual learning system developed for a complex artificial cognitive agent working in a restaurant scenario. This system, developed within the scope of the European project RACE, integrates detection, tracking, learning and recognition of tabletop objects. Interaction capabilities were also developed to enable a human user to take the role of instructor and teach new object categories. Thus, the system learns in an incremental and open-ended way from user-mediated experiences. Based on the analysis of memory requirements for storing both semantic and perceptual data, a dual memory approach, comprising a semantic memory and a perceptual memory, was adopted. The perceptual memory is the central data structure of the described perception and learning system. The goal of this paper is twofold: on one hand, we provide a thorough description of the developed system, starting with motivations, cognitive considerations and architecture design, then providing details on the developed modules, and finally presenting a detailed evaluation of the system; on the other hand, we emphasize the crucial importance of the Point Cloud Library (PCL) for developing such system.1

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