Embodied categorisation for vision-guided mobile robots

摘要

This paper outlines a philosophical and psycho-physiological basis for embodied perception, and develops a framework for conceptual embodiment of vision-guided robots. We argue that categorisation is important in all stages of robot vision. Further, that classical computer vision is unsuitable for this categorisation, however, through conceptual embodiment, active perception can be effective. We present a methodology for developing vision-guided robots that applies embodiment, explicitly and implicitly, in categorising visual data to facilitate efficient perception and action. Finally, we present systems developed using this methodology, and demonstrate that embodied categorisation can make algorithms more efficient and robust.