Integrating Motion into Vision Models for Better Visual Prediction
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We demonstrate an improved vision system that learns a model of its environment using a self-supervised, predictive learning method. The system includes a pan-tilt camera, a foveated visual input, a saccading reflex to servo the foveated region to areas high prediction error, input frame transformation synced to the camera motion, and a recursive, hierachical machine learning technique based on the Predictive Vision Model. In earlier work, which did not integrate camera motion into the vision model, prediction was impaired and camera movement suffered from undesired feedback effects. Here we detail the integration of camera motion into the predictive learning system and show improved visual prediction and saccadic behavior. From these experiences, we speculate on the integration of additional sensory and motor systems into self-supervised, predictive learning models.
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