@misc{cogprints4061, volume = {117}, editor = {Luc Berthouze and Hideki Kozima and Christopher G. Prince and Giulio Sandini and Georgi Stojanov and Giorgio Metta and Christian Balkenius}, title = {An Ontogenetic Model of Perceptual Organization for a developmental Robot}, author = {Remi Driancourt}, publisher = {Lund University Cognitive Studies}, year = {2004}, pages = {51--58}, keywords = {robotic intermediary vision, ontogenetic model, local feature detector, visual segmentation, visual clustering}, url = {http://cogprints.org/4061/}, abstract = {This paper presents an ontogenetic model of self-organization for robotic intermediary vision. Two mechanisms are under concern. First, the development of low-level local feature detectors that perform a piecewise categorization of the sensory signal. Second, the hierarchical grouping of these local features in a holistic perception. While the grouping mechanism is expressed as a classical agglomerative clustering, underlying similarity measures are not pre-given but developed from the signal statistics.} }