A planning approach to active visual search in large environments
2011 (English)In: AAAI Workshop Tech. Rep., 2011, 8-13 p.Conference paper (Refereed)
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.
, AAAI Workshop - Technical Report, WS-11-09
Hierarchical model, Object location, Real world experiment, Search problem, Spatial knowledge, Unknown environments, Visual objects, Visual search, Decision theory, Hierarchical systems, Semantics, Robot programming
IdentifiersURN: urn:nbn:se:kth:diva-150686ScopusID: 2-s2.0-80055050331ISBN: 9781577355250OAI: oai:DiVA.org:kth-150686DiVA: diva2:744602
2011 AAAI Workshop, 7 August 2011, San Francisco, CA, USA
QC 201409082014-09-082014-09-082014-09-08Bibliographically approved