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AIPS
2011

Planning to Perceive: Exploiting Mobility for Robust Object Detection

8 years 1 months ago
Planning to Perceive: Exploiting Mobility for Robust Object Detection
Consider the task of a mobile robot autonomously navigating through an environment while detecting and mapping objects of interest using a noisy object detector. The robot must reach its destination in a timely manner, but is rewarded for correctly detecting recognizable objects to be added to the map, and penalized for false alarms. However, detector performance typically varies with vantage point, so the robot benefits from planning trajectories which maximize the efficacy of the recognition system. This work describes an online, any-time planning framework enabling the active exploration of possible detections provided by an off-the-shelf object detector. We present a probabilistic approach where vantage points are identified which provide a more informative view of a potential object. The agent then weighs the benefit of increasing its confidence against the cost of taking a detour to reach each identified vantage point. The system is demonstrated to significantly improve d...
Javier Vélez, Garrett Hemann, Albert S. Hua
Added 24 Aug 2011
Updated 24 Aug 2011
Type Journal
Year 2011
Where AIPS
Authors Javier Vélez, Garrett Hemann, Albert S. Huang, Ingmar Posner, Nicholas Roy
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