基于增量式双向主成分分析的机器人感知学习方法研究

doi:10.11999/JEIT170561

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Abstract Existing Candid Covariance-free Incremental PCA (CCIPCA) has the limitation of the stable image inherent covariance, and a Generalized CCIPCA (GCCIPCA) with an appended term of the mean difference vector is presented. It can be considered that the CCIPCA is only a special case of the GCCIPCA and can extend the scope of the algorithm. Then, the incremental learning of the proposed GCCIPCA is innovated to the existing Bi-Directional PCA (BDPCA), and the called Incremental BDPCA (IBDPCA) is used for the robot perceptual learning and it can be used to incrementally compute the principal components without estimating the similar scatter matrixes in the row and column directions, which can build up the real-time processing speed greatly. Finally, the blocks grasped by the robot are used as the perceptual objects, and the experimental results demonstrate that the proposed algorithm works well, and the convergence rate, the classification recognition rate, the computation time and the required memory are improved significantly.

Key words： Robot perceptual learning Incremental learning Dimension reduction Candid Covariance-free Incremental PCA (CCIPCA) Bi-Directional PCA (BDPCA)

Received: 09 June 2017 Published: 23 November 2017

PACS:

TP391.41

Fund:The National Natural Science Foundation of China (61503119, 61473113), The Tianjin Natural Science Foundation (15JCYBJC19800, 16JCZDJC30400), The Tianjin Intelligent Manufacturing and Technology Key Project (15ZXZNGX00090)

Corresponding Authors: ZHANG Minglu E-mail: zhangml@hebut.edu.cn

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	WANG Xiaofeng
	ZHANG Minglu
	LIU Jun

Cite this article:

WANG Xiaofeng,ZHANG Minglu,LIU Jun. Robot Perceptual Learning Method Based on Incremental Bidirectional Principal Component Analysis[J]. JEIT, 2018, 40(3): 618-625.

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http://jeit.ie.ac.cn/EN/10.11999/JEIT170561 OR http://jeit.ie.ac.cn/EN/Y2018/V40/I3/618

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