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)
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)
We bring Dynamic Field Theory to bear on a problem of robot vision, learning to recognize objects on a fast time scale, while interacting with a human user. Dynamic fields represent each object through low-level features like color, shape, and size cues. Recognition and teaching leads to localized activation peaks in these fields, which leave a memory(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)
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)
We describe the general concept, system architecture, hardware, and the behavioral abilities of Cora (Cooperative Robot Assistant, see Fig. 1), an autonomous non mobile robot assistant. Outgoing from our basic assumption that the behavior to perform determines the internal and external structure of the behaving system, we have designed Cora anthropomorphic(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)
We present an architecture based on the Dynamic Field Theory for the problem of scene representation. At the core of this architecture are three-dimensional neural fields linking feature to spatial information. These three-dimensional fields are coupled to lower-dimensional fields that provide both a close link to the sensory surface and a close link to(More)
The rhythm apparatus for the overhead projector is a robotic device that can be used to demonstrate core concepts of the theory of embodied cognition. At the same time, it is also an instrument for audiovisual performances. Combining the communication of scientific insight with amusement and entertainment, it stands in the tradition of philosophical toys.(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)