A Framework for Robotic Perception
Roger A. Browse and Susan J. Lederman
Abstract
The development of intelligent, flexible robots that can adapt to their environment will require
sophisticated perceptual systems. There are drawbacks and limitations to the direct application of
computational vision systems as the mainstay of robotic perception. A more promising approach
is to consider the possibility of multimodal perception involving an active visual component,
along with touch sensors using proprioceptive information. There are several benefits of this
broader approach to robotic perception because the perceptual information derived from the
different knowledge sources is complementary. There are several interesting and addressable
questions about the interaction of the various knowledge sources and about the repercussions of
active perception on robotic planning systems. In addition, other areas of psychological research
can now be viewed as being directly relevant to robotic issues.