Mixtures of probabilistic principal component analyzers
Neural Computation
Efficient Vector Quantization Using the WTA-Rule with Activity Equalization
Neural Processing Letters
A Multi-purpose Visual Classification System
Proceedings of the International Conference, 7th Fuzzy Days on Computational Intelligence, Theory and Applications
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We present a computer vision system for judgement on the success or failure of a grasping action carried out by a three-fingered robot hand. After an object has been grasped from a table, an image is captured by a hand camera that can see both the object and the fingertips. The difficulty in the evaluation is that not only identity and position of the objects have to be recognized but also a qualitative judgement on the stability of the grasp has to be made. This is achieved by defining sets of prototypic "grasping situations" individually for the objects.