An Adaptive Hierarchical Model of the Ventral Visual Pathway Implemented on a Mobile Robot

Authors:
Alistair Bray
Affiliations:
-
Venue:
BMCV '02 Proceedings of the Second International Workshop on Biologically Motivated Computer Vision
Year:
2002

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Abstract

The implementation of an adaptive visual system founded on the detection of spatio-temporal invariances is described. It is a layered system inspired by the hierarchical processing in the mammalian ventral visual pathway, and models retinal, early cortical and infero-temporal components. A representation of scenes in terms of slowly varying spatio-temporal signatures is discovered through maximising a measure of temporal predictability. This supports categorisation of the environment by a set of view cells (view-trained units or VTUs [1]) that demonstrate substantial invariance to transformations of viewpoint and scale.