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Carnegie Mellon Robotics Institute

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Abstract

We describe complementary iconic and symbolic representations for parsing the visual world. The iconic pixmap representation is operated on by an extensible set of ?isual routines?(Ullman, 1984; Forbus et al., 2001). A symbolic representation, in terms of lines, ellipses, blobs, etc., is extracted from the iconic encoding, manipulated algebraically, and re-rendered iconically. The two representations are therefore duals, and iconic operations can be freely intermixed with symbolic ones. The dual-coding approach offers robot programmers a versatile collection of primitives from which to construct application-specific vision software. We describe some sample applications implemented on the Sony AIBO.

Notes

Associated Lab(s) / Group(s): Tekkotsu Lab

Number of pages: 11

Text Reference

David S. Touretzky, N.S. Halelamien, Ethan Tira-Thompson, J.J. Wales, and Kei Usui, "Dual-coding representations for robot vision in Tekkotsu," Autonomous Robots, Vol. 22, No. 4, January, 2007, pp. 425 - 435.

BibTeX Reference

@article{Touretzky_2007_5880,
   author = "David S Touretzky and N.S. Halelamien and Ethan Tira-Thompson and J.J. Wales and Kei Usui",
   title = "Dual-coding representations for robot vision in Tekkotsu",
   journal = "Autonomous Robots",
   pages = "425 - 435",
   month = "January",
   year = "2007",
   volume = "22",
   number = "4",
}

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