Active Bayesian Perception for Simultaneous Object Localization and Identification

Nathan F. Lepora, Uriel Martinez Hernandez, Tony J. Prescott

Research output: Chapter or section in a book/report/conference proceedingChapter in a published conference proceeding


In this paper, we propose that active Bayesian per-ception has a general role for Simultaneous Object Localizationand IDentification (SOLID), or deciding where and what. Wetest this claim using a biomimetic fingertip to perceive objectidentity via surface shape at uncertain contact locations. Ourmethod for active Bayesian perception combines decision makingby threshold crossing of the posterior belief with a sensorimotorloop that actively controls sensor location based on those beliefs.Our findings include: (i) active perception with a fixation controlstrategy gives an order-of-magnitude improvement in acuity overpassive perception without sensorimotor feedback; (ii) perceptualacuity improves as the active control requires less belief to makea relocation decision; and (iii) relocation noise further improvesacuity. The best method has aspects that resemble animalperception, supporting wide applicability of these findings.
Original languageEnglish
Title of host publicationProceedings of Robotics: Science and Systems IX, 2013
Place of PublicationBerlin, Germany
PublisherRobotics: Science and Systems Foundation
Number of pages8
ISBN (Print)9789810739379
Publication statusPublished - 10 Apr 2013
EventRobotics: Science and Systems IX, 2013 - Technische Universitat Berlin, Berlin, Germany
Duration: 24 Jun 201328 Jun 2013


ConferenceRobotics: Science and Systems IX, 2013


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