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A planning approach to active visual search in large environments
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1396-0102
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
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2011 (English)In: AAAI Workshop Tech. Rep., 2011, 8-13 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we present a principled planner based approach to the active visual object search problem in unknown environments. We make use of a hierarchical planner that combines the strength of decision theory and heuristics. Furthermore, our object search approach leverages on the conceptual spatial knowledge in the form of object co-occurrences and semantic place categorisation. A hierarchical model for representing object locations is presented with which the planner is able to perform indirect search. Finally we present real world experiments to show the feasibility of the approach.

Place, publisher, year, edition, pages
2011. 8-13 p.
Series
AAAI Workshop - Technical Report, WS-11-09
Keyword [en]
Hierarchical model, Object location, Real world experiment, Search problem, Spatial knowledge, Unknown environments, Visual objects, Visual search, Decision theory, Hierarchical systems, Semantics, Robot programming
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-150686Scopus ID: 2-s2.0-80055050331ISBN: 9781577355250 (print)OAI: oai:DiVA.org:kth-150686DiVA: diva2:744602
Conference
2011 AAAI Workshop, 7 August 2011, San Francisco, CA, USA
Note

QC 20140908

Available from: 2014-09-08 Created: 2014-09-08 Last updated: 2014-09-08Bibliographically approved

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Pronobis, AndrzejJensfelt, Patric

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Aydemir, AlperPronobis, AndrzejSjöö, KristofferJensfelt, Patric
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
  • html
  • text
  • asciidoc
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