Active Exploration for Robust Object Detection

Vélez, Javier; Hemann, Garrett; Huang, Albert S.; Posner, Ingmar; Roy, Nicholas

doi:10.5591/978-1-57735-516-8/IJCAI11-458

Active Exploration for Robust Object Detection

Javier Vélez, Garrett Hemann, Albert S. Huang, Ingmar Posner, Nicholas Roy

Download BibTeX Cite

Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence. Pages 2752-2756.

https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-458

Abstract

Today, mobile robots are increasingly expected to operate in ever more complex and dynamic environments.In order to carry out many of the higher level tasks envisioned a semantic understanding of a workspace is pivotal. Here our field has benefited significantly from successes in machine learning and vision: applications in robotics of off-the-shelf object detectors are plentiful. This paper outlines an online, any-time planning framework enabling the active exploration of such detections. Our approach exploits the ability to move to different vantage points and implicitly weighs the benefits of gaining more certainty about the existence of an object against the physical cost of the exploration required. The result is a robot which plans trajectories specifically to decrease the entropy of putative detections. Our system is demonstrated to significantly improve detection performance and trajectory length in simulated and real robot experiments.

Javier Vélez, Garrett Hemann, Albert S. Huang, Ingmar Posner, and Nicholas Roy. 2011. Active Exploration for Robust Object Detection. In Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence, IJCAI-11. IJCAI, 2752–2756. https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-458

@inproceedings{ijcai2011p458,
  title     = {Active Exploration for Robust Object Detection},
  author    = {Vélez, Javier and Hemann, Garrett and Huang, Albert S. and Posner, Ingmar and Roy, Nicholas},
  booktitle = {Proceedings of the Twenty-Second International Joint Conference on
               Artificial Intelligence, {IJCAI-11}},
  publisher = {AAAI Press/International Joint Conferences on Artificial Intelligence},
  editor    = {Toby Walsh},
  pages     = {2752--2756},
  year      = {2011},
  month     = {7},
  doi       = {10.5591/978-1-57735-516-8/IJCAI11-458},
  url       = {https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-458},
}

TY  - CPAPER
TI  - Active Exploration for Robust Object Detection
AU  - Vélez, Javier
AU  - Hemann, Garrett
AU  - Huang, Albert S.
AU  - Posner, Ingmar
AU  - Roy, Nicholas
T2  - Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence, IJCAI-11
PB  - AAAI Press/International Joint Conferences on Artificial Intelligence
PY  - 2011
SP  - 2752
EP  - 2756
DO  - 10.5591/978-1-57735-516-8/IJCAI11-458
UR  - https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-458
ER  -