Visual Perception

Recent years have witnessed important advancements in our understanding of the psychological underpinnings of subjective properties of visual information, such as aesthetics, memorability, or induced emotions. Concurrently, computational models of objective visual properties such as semantic labelling and geometric relationships have made significant breakthroughs using the latest achievements in machine learning and large-scale data collection. There has also been limited but important work exploiting these breakthroughs to improve computational modelling of subjective visual properties. The time is ripe to explore how advances in both of these fields of study can be mutually enriching and lead to further progress.

This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot’s mental representations to physical entities.

Vision is our most dominant sense, from which we derive most of our information about the world. From the light that enters the eye and the processing in the brain that follows we can sense where things are, how they move and what they are.