Research On Robotic Cross Perception Based On Visual And Auditory Sense

Intelligent robot imitates the information processing mechanism of human brain.As an important research area,Intelligent robot technology has played decisive role in the development of intelligent robots.The auditory-visual cross mechanism of human is simulated in this paper,which include sound location,visual target detection,identification and binocular measurement.Besides that,robotic cross model perception mechanism is presented to understand environment information.The main research contents of this paper are as follows:In sound location aspect,the mechanism of sound collection,transmission and location in the ascending auditory pathway and error correction in descending pathway is researched.Time delay estimation algorithm based on human ear localization model is adapted in robotic ascending auditory pathway,descending path way use neural network algorithm which simulate auditory integration mechanism of cerebral cortex.With the better generalization capability and high convergence speed,the RBF neural network is applied to correct the nonlinear error of the sound position.The experimental results show that the improved sound source localization algorithm can improve the accuracy.In visual perception,the visual perception model of robot is designed,which is modeled by humans two neural pathway.In what channel,three HMAX model based on visual perception mechanism is analyzed in detail and the model framework is abstracted.In the aspect of target detection,the AdaBoost arithmetic is adapted to design the target detection model;In target recognition,target recognition model is designed towards Gabor filter replaced by wavelet transform in S1 and maxim measurement replaced by SVDP algorithm in C1,besides that,target recognition is achieved through sparse representation in VTU.On where pathway,according to the space perception mechanism of human,binocular measurement model is used to obtain the target position.The effectiveness of the proposed visual model is illustrated by the simulation results.Human visual-auditory cross perception is researched from the influence mechanism of victory sound location and visual spatial perception.Robotic cross mechanism model is designed by the fusion of sound location and binocular vision positioning algorithm.Finally,the robotic attention mechanism is verified by the simulation experiments and realizes precise environmental apperception.