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Perception as abduction: turning sensor data into meaningful representation
1Department of Electrical and Electronic Engineering, Imperial College, London, England.
Abstract:
This article presents a formal theory of robot perception as a form of abduction. The theory pins down the process whereby low-level sensor data is transformed into a symbolic representation of the external world, drawing together aspects such as incompleteness, top-down information flow, active perception, attention, and sensor fusion in a unifying framework. In addition, a number of themes are identified that are common to both the engineer concerned with developing a rigorous theory of perception, such as the one on offer here, and the philosopher of mind who is exercised by questions relating to mental representation and intentionality.
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