Informed visual search: Combining attention and object recognition

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 pap...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 935 - 942
Main Authors Forssen, P.-E., Meger, D., Lai, K., Helmer, S., Little, J.J., Lowe, D.G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
SeriesRobotics and Automation
Subjects
Cameras
Footwear
Humans
Image databases
Mobile robots
Object recognition
Robot vision systems
Robotics and automation
TECHNOLOGY
TEKNIKVETENSKAP
Training data
USA Councils
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543325

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Summary: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.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543325