Stereo vision for planetary rovers: stochastic modeling to near real-time implementation
International Journal of Computer Vision
Specialization of perceptual processes
Specialization of perceptual processes
Evolving visually guided robots
Proceedings of the second international conference on From animals to animats 2 : simulation of adaptive behavior: simulation of adaptive behavior
Evolution of obstacle avoidance behavior: using noise to promote robust solutions
Advances in genetic programming
Automatic creation of an autonomous agent: genetic evolution of a neural-network driven robot
SAB94 Proceedings of the third international conference on Simulation of adaptive behavior : from animals to animats 3: from animals to animats 3
Evolving mobile robots in simulated and real environments
Artificial Life
PADO: a new learning architecture for object recognition
Symbolic visual learning
Proceedings of the First European Workshop on Evolutionary Robotics
Proceedings of the First European Workshop on Evolutionary Robotics
Proceedings of the First European Workshop on Genetic Programming
EuroGP '98 Proceedings of the First European Workshop on Genetic Programming
Noise and the Reality Gap: The Use of Simulation in Evolutionary Robotics
Proceedings of the Third European Conference on Advances in Artificial Life
Blurred Vision: Simulation-Reality Transfer of a Visually Guided Robot
Proceedings of the First European Workshop on Evolutionary Robotics
Genetic Evolution of a Logic Circuit which Controls an Autonomous Mobile Robot
ICES '96 Proceedings of the First International Conference on Evolvable Systems: From Biology to Hardware
Property Mapping: A Simple Technique for Mobile Robot Programming
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Appearance-Based Obstacle Detection with Monocular Color Vision
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Real-time obstacle avoidance using central flow divergence and peripheral flow
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
The simulated evolution of robot perception
The simulated evolution of robot perception
Evolution of an artificial neural network based autonomous landvehicle controller
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An incremental approach to developing intelligent neural networkcontrollers for robots
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Evolving visual sonar: Depth from monocular images
Pattern Recognition Letters - Special issue: Evolutionary computer vision and image understanding
An Approach for 2D Visual Occupancy Grid Map Using Monocular Vision
Electronic Notes in Theoretical Computer Science (ENTCS)
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Genetic Programming was used to create the vision subsystem of a reactive obstacle avoidance system for an autonomous mobile robot. The representation of algorithms was specifically chosen to capture the spirit of existing, hand written vision algorithms. Traditional computer vision operators such as Sobel gradient magnitude, median filters and the Moravec interest operator were combined arbitrarily. Images from an office hallway were used as training data. The evolved programs took a black and white camera image as input and estimated the location of the lowest non-ground pixel in a given column. The computed estimates were then given to a handwritten obstacle avoidance algorithm and used to control the robot in real time. Evolved programs successfully navigated in unstructured hallways, performing on par with hand-crafted systems.