書誌事項
- タイトル別名
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- Special issue "Sensor Fusion". Hierarchical Sensory-Motor Fusion Model with Neural Networks.
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抄録
Human beings perceive the physical world by integrating various sensory inputs, information about own motor system and their knowledge. To process sensory information, the human brain has a hierarchical parallel distributed processing mechanism. Sensor fusion technology focuses on simulating the brain's sensory information processing mechanism and is intended for advanced sensing systems which cannot be constructed with unimodal sensory information processing.<BR>Our study of sensor fusion aims to develop a hierarchical sensory-motor fusion mechanism for achieving intentional sensing, which is a concept that sensing has a goal of perception (or intention of sensing) and sensing behaviors must be oriented to achieve the goal.<BR>In this paper, we propose a hierarchical sensory-motor fusion model with neural networks for intentional sensing, and also propose an iterative inversion method which takes advantage of multi-layer neural networks as a solution to the ill-posed inverse problem. We applied the hierarchical sensory-motor fusion model to a three-dimensional object recognition system and a vision-based robot arm control system, and demonstrated the effectiveness of the proposed model by computer simulations. We confirmed that the model accepts and propagates intentions, enables to tightly couple recognition and action, and can perform various tasks without rebuilding or relearning the sensing system.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 12 (5), 685-694, 1994
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679703499776
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- NII論文ID
- 10006916729
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可