liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Informed Visual Search: Combining Attention and Object Recognition
Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Computer Vision.ORCID iD: 0000-0002-5698-5983
Show others and affiliations
2008 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, Pasadena: IEEE Robotics and Automation Society , 2008, 935-942 p.Conference paper (Refereed)
Abstract [en]

This paper studies the sequential object recognition problem faced by a mobile robot searching for specific objects within a cluttered environment. In contrast to current state-of-the-art object recognition solutions which are evaluated on databases of static images, the system described in this paper employs an active strategy based on identifying potential objects using an attention mechanism and planning to obtain images of these objects from numerous viewpoints. We demonstrate the use of a bag-of-features technique for ranking potential objects, and show that this measure outperforms geometric matching for invariance across viewpoints. Our system implements informed visual search by prioritising map locations and re-examining promising locations first. Experimental results demonstrate that our system is a highly competent object recognition system that is capable of locating numerous challenging objects amongst distractors.

Place, publisher, year, edition, pages
Pasadena: IEEE Robotics and Automation Society , 2008. 935-942 p.
, Robotics and Automation, ISSN 1050-4729
National Category
Engineering and Technology
URN: urn:nbn:se:liu:diva-44901DOI: 10.1109/ROBOT.2008.4543325Local ID: 78170ISBN: 978-1-4244-1646-2OAI: diva2:265763
International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA
This system won the SRVC Comptetition at the AAAI07 conference in Vancouver.Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2015-12-10Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textExtern länkCurious George page

Search in DiVA

By author/editor
Forssén, Per-Erik
By organisation
The Institute of TechnologyComputer Vision
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 170 hits
ReferencesLink to record
Permanent link

Direct link