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Modèle connexionniste neuromimétique pour la perception visuelle embarquée du mouvement

Abstract : The connectionist research is in front of the strong constraints of autonomy in robotics issue of visual perceptive tasks that have not yet been satisfied by the neural models defined until now, particularly to the linked to motion perception ones. In this context, we propose a neuromimetic connectionist model allowing to deal with a set of tasks for dynamic visual perception (robot/objects in movement). It implies the compromise to satisfy some major constraints (bio-inspiration, massively distributed local processing aimed at being embedded on FPGA circuits for real-time processing) that must be kept central in the definition of our proposed model, in spite of the complexity of the considered tasks. Our connectionist model for the visual perception of motion consists of three modules : the first one performs a causal spatio temporal filtering based on Gabor filters and inspired by the responses of the simple cells of the primary visual cortex, V1. The second one carries out a distributed mechanism using strong localized interactions based on an antagonist principle inspired by the organization of V1 as a set of orientation columns. Finally, we integrate the responses of the second module and we send them to the third one, as inspired by the properties of the receptive fields of the MT and MST (middle temporal and middle superior temporal areas, respectively). This last module brings to the foreground a single moving object through the evolution in different maps of the laterals, feed-forward and feed-back interactions of a neural population that is densely interconnected according to the principle of the CNFT (Continuum Neural Field Theory). Globally, a single moving object is focused and followed as a result of these interactions.
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Theses
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http://docnum.univ-lorraine.fr/prive/SCD_T_2005_0115_CASTELLANOS_SANCHEZ.pdf
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https://hal.univ-lorraine.fr/tel-01746680
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Submitted on : Thursday, March 29, 2018 - 10:42:35 AM
Last modification on : Thursday, July 2, 2020 - 11:29:58 AM

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Claudio Castellanos Sànchez. Modèle connexionniste neuromimétique pour la perception visuelle embarquée du mouvement. Autre [cs.OH]. Université Henri Poincaré - Nancy 1, 2005. Français. ⟨NNT : 2005NAN10115⟩. ⟨tel-01746680⟩

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