Perceptual Context in Cognitive Hierarchies
This work addresses the challenge of incorporating top-down contextual information in cognitive models, which is incremental as it builds on existing hierarchical frameworks.
The paper tackles the problem of integrating perceptual context into cognitive hierarchies by formalizing context and proposing a new process model, demonstrating its application in visually tracking rigid object poses with a 2D camera.
Cognition does not only depend on bottom-up sensor feature abstraction, but also relies on contextual information being passed top-down. Context is higher level information that helps to predict belief states at lower levels. The main contribution of this paper is to provide a formalisation of perceptual context and its integration into a new process model for cognitive hierarchies. Several simple instantiations of a cognitive hierarchy are used to illustrate the role of context. Notably, we demonstrate the use context in a novel approach to visually track the pose of rigid objects with just a 2D camera.