凝视和环境环境导向深度神经网络和顺序决策融合以掌握意图识别
概括
这项研究引入了一种新的框架,用于识别使用眼睛凝视数据的抓取意图,改进对移动障碍者进行辅助机器人控制. GIRSDF框架通过将视线与环境背景和时间数据相结合来提高准确性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
- 神经科学是一个神经科学.
背景情况:
- 掌握意图识别对于协助机器人帮助行动能力有限的人来说至关重要.
- 眼睛凝视是识别意图的一个有希望的模式,但现有的方法缺乏环境背景和时间数据集成.
- 这限制了当前基于视线的辅助系统的性能.
研究的目的:
- 开发一个改进的基于目光的框架,用于对象检测和掌握意图识别.
- 通过将视线数据与环境背景和时间信息相结合,解决现有方法的局限性.
- 为了加强对手臂和手部残疾用户的辅助机器人的控制.
主要方法:
- 提出了一个新的基于凝视的掌握意图识别和顺序决策融合框架 (GIRSDF).
- 该框架包括凝视注意力地图生成,用于意图识别的凝视-YOLO模型和顺序决策模型 (HMM,LSTM,GRU).
- 创建了一个新的数据集,Invisible,使用来自健康个体和半患者的数据进行验证.
主要成果:
- 与以往基于凝视的方法相比,GIRSDF框架在基于试验和基于实验对象的实验中表现出优异的表现.
- 该框架的运行效率约为22Hz,可实现实时掌握意图识别.
- 拟议的方法有效地将视线数据与环境背景和时间信息相结合.
结论:
- 该GIRSDF框架显著改善了辅助机器人的基于目光的掌握意图识别.
- 该研究强调了整合环境背景和时间信息以提高性能的重要性.
- 预计这项工作将刺激进一步的研究,以目光为基础的意图识别人机交互.
相关概念视频
01:21Association Areas of the Cortex
5.5K
Association areas are regions of the cerebral cortex that do not have a specific sensory or motor function. Instead, they integrate and interpret information from various sources to enable higher cognitive processes such as memory, learning, and decision-making. Some key association areas include the following:
Prefrontal Association Area: This area is located in the frontal lobe and is involved in planning, decision-making, and moderating social behavior. It connects with primary motor areas,...
Prefrontal Association Area: This area is located in the frontal lobe and is involved in planning, decision-making, and moderating social behavior. It connects with primary motor areas,...
5.5K
01:15Depth Perception and Spatial Vision
709
Depth perception is the ability to perceive objects three-dimensionally. It relies on two types of cues: binocular and monocular. Binocular cues depend on the combination of images from both eyes and how the eyes work together. Since the eyes are in slightly different positions, each eye captures a slightly different image. This disparity between images, known as binocular disparity, helps the brain interpret depth. When the brain compares these images, it determines the distance to an object.
709
01:25Neural Circuits
1.3K
Neural circuits and neuronal pools are two of the main structures found in the nervous system. Neural circuits are networks of neurons that work together to carry out a specific task or process. They consist of interconnected neurons and glial cells, which provide structural and metabolic support.
Neuronal pools are collections of nerve cells with similar functions and interact through chemical and electrical signals. These pools include both interneurons (the central neural circuit nodes that...
Neuronal pools are collections of nerve cells with similar functions and interact through chemical and electrical signals. These pools include both interneurons (the central neural circuit nodes that...
1.3K
01:22Force Classification
1.3K
Forces play a crucial role in the study of physics and engineering. They are essential in describing the motion, behavior, and equilibrium of objects in the physical world. Forces can be classified based on their origin, type, and direction of action.
Contact and non-contact forces are two of the most widely used categories of forces. As the name suggests, contact forces require physical contact between two objects to act upon each other. Examples of contact forces include frictional,...
Contact and non-contact forces are two of the most widely used categories of forces. As the name suggests, contact forces require physical contact between two objects to act upon each other. Examples of contact forces include frictional,...
1.3K