We propose a hierarchical sensory information processing model which achieves sensor fusion. This model has a hierarchical structure: autonomous processing units are interconnected in layers above the sensors, which get information from the physical world, and the actuators, which act on the physical world. Each processing unit consists of three basic modules#x2014;recognition, motor, and sensory-motor fusion. This paper focuses on the sensory-motor fusion and the recognition modules, both of which use neural networks. To demonstrate the effectiveness of the proposed processing model, we show simulation results for three-dimensional object recognition and develop a visual control architecture for a two-dimensional manipulator used for the task of catching an object.
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