Automated Exploration and Inspection: Comparing Two Visual Novelty Detectors

Mobile robot applications that involve exploration and inspection of dynamic environments benefit, and often even are dependant on reliable novelty detection algorithms. In this paper we compare and discuss the performance and functionality of two different on-line novelty detection algorithms, one...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 2; no. 4
Main Authors Neto, Hugo Vieira, Nehmzow, Ulrich
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 01.12.2005
SAGE Publishing
Subjects
real-time computer vision
on-line novelty detection
mobile robotics
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Summary:Mobile robot applications that involve exploration and inspection of dynamic environments benefit, and often even are dependant on reliable novelty detection algorithms. In this paper we compare and discuss the performance and functionality of two different on-line novelty detection algorithms, one based on incremental Principal Component Analysis and the other on a Grow-When-Required artificial neural network. A series of experiments using visual input obtained by a mobile robot interacting with laboratory and real-world environments demonstrate and measure advantages and disadvantages of each approach.
ISSN:1729-8806
1729-8814
DOI:10.5772/5770