publication . Article . 2011

Active exploration for robust object detection

Velez, Javier J.; Hemann, Garrett A.; Huang, Albert S.; Posner, Ingmar; Roy, Nicholas;
English
  • Published: 01 Jul 2011 Journal: IJCAI International Joint Conference on Artificial Intelligence (issn: 1045-0823, Copyright policy)
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 th...
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publication . Article . 2011

Active exploration for robust object detection

Velez, Javier J.; Hemann, Garrett A.; Huang, Albert S.; Posner, Ingmar; Roy, Nicholas;