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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
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2008 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, Pasadena: IEEE Robotics and Automation Society , 2008, 935-942 p.Conference paper, Published 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.
Series
Robotics and Automation, ISSN 1050-4729
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-44901DOI: 10.1109/ROBOT.2008.4543325Local ID: 78170ISBN: 978-1-4244-1646-2 (print)OAI: oai:DiVA.org:liu-44901DiVA: diva2:265763
Conference
International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA
Note
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

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Forssén, Per-Erik

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf