Christian Faubel

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Autonomous robots interacting with human users need to build and continuously update scene representations. This entails the problem of rapidly learning to recognize new objects under user guidance. Based on analogies with human visual working memory, we propose a dynamical field architecture, in which localized peaks of activation represent objects over a(More)
—Based on the concepts of Dynamic Field Theory, we present an architecture that autonomously generates scene representations by controlling gaze and attention, creating visual objects in the foreground, tracking objects, reading them into working memory, and taking into account their visibility. At the core of this architecture are three-dimensional Dynamic(More)
— Learning to recognize objects from a small number of example views is a difficult problem of robot vision, of particular importance to assistance robots who are taught by human users. Here we present an approach that combines bottom-up recognition of matching patterns and top-down estimation of pose parameters in a recurrent loop that improves on previous(More)
— CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes(More)
Motion perception is theoretically understood as the detection of sequential optical changes at two locations in the visual array. Experiments on generalized apparent motion have demonstrated, however, that sequentiality is not necessarily required for the detection of motion [1] leading to instantaneous counter-change as an alternative theoretical view of(More)
In this paper I present a robotic device that offers new ways of interaction for producing rhythmic patterns. The apparatus is placed on an overhead projector and a visual presentation of these rhythmic patterns is delivered as a shadow play. The rhythmic patterns can be manipulated by modifying the environment of the robot, through direct physical(More)
For autonomous robotic systems, the ability to represent a scene, to memorize and track objects and their associated features is a prerequisite for reasonable interactive behavior. In this paper, we present a biologically inspired architecture for scene representation that is based on Dynamic Field Theory. At the core of the architecture we make use of(More)