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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.
Evolutionary Computation, 2003. CEC '03. The 2003 Congress on (Volume:4 )
Date of Conference: 8-12 Dec. 2003