運動スケッチ:画像運動情報に基づく単眼視覚移動ロボットの行動獲得

概要

論文の詳細を見る
In this paper, we propose Motion Sketch as a representation to show the interaction between a vision-based learning agent and its environment. By obtaining this representation, a one-eyed mobile robot can learn several behaviors such as obstacle avoidance and target pursuit. The Motion Sketch represents tight coupling between visual and motor behaviors. Visual behaviors consist of optical flow detection and visual tracking by a real-time visual tracking routines. Motor behaviors consist of sets of uninterpreted action sequences. It is obtained by statistical technique and Q-learning, a most widely used reinforcement learning method based on the visual motion cues. Finally, the experimental results of real robot implementation with real-time visual tracking routines are shown.
社団法人人工知能学会の論文
1996-11-01