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A genetic off-line tuner for robotic humanoid visual perception

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2 Author(s)
Jafari, S. ; Intelligent Robotics Res. Centre, Monash Univ., Clayton, Vic., Australia ; Jarvis, R.

Here, a robust tuner is presented that has been developed for support of early visual understanding by a robotic humanoid, sg1, under development. One of the achieved goals is to speed up the process of real-time segmentation by eliminating any tuning sessions from the online process and carrying them out offline. Effectiveness values (credits) assigned to stereo-based range findings and colour components (red, green, blue) are some of the tuned parameters. However, more than nine parameters (such as: stereo range finder search area, minimum and maximum size of regions, thresholds...) are tuned using a genetic algorithm. A novel idea for automatic evaluation of the region-edge segmentation has been applied as well.

Published in:

Evolutionary Computation, 2003. CEC '03. The 2003 Congress on  (Volume:4 )

Date of Conference:

8-12 Dec. 2003