Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
Computer graphics (2nd ed.): C version
Computer graphics (2nd ed.): C version
Genetic programming: an introduction: on the automatic evolution of computer programs and its applications
Evolving Hand-Eye Coordination for a Humanoid Robot with Machine Code Genetic Programming
EuroGP '01 Proceedings of the 4th European Conference on Genetic Programming
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In this paper we introduce a new approach to adaptive stereoscopic Vision. We use genetic programming, where the input to the individuals is raw pixel data from stereo image-pairs acquired by two CCD cameras. The output from the individuals is the disparity map, which is transformed to a 3D map of the captured scene using triangulation. The used genetic engine evolves machine-coded individuals, and can thereby reach high Performance on weak computer archiectures. The evolved individuals have an average disparity-error of 1.5 pixels which is equivalent to an uncertainty of about 10% of the true distance This work is motivated by applications to the control of autonomous humanoid robots -The Humanoid at Project Chalmers.