TY - GEN
T1 - Semantic interpretation of novelty in images using histograms of oriented gradients
AU - Alt, Nicolas
AU - Maier, Werner
AU - Rao, Qing
AU - Steinbach, Eckehard
PY - 2012
Y1 - 2012
N2 - An approach for the semantic interpretation of image-based novelty in real-world environments is presented. We measure novelty using the concept of pixel-based surprise, which quantifies how much a new observation changes the robot's current probabilistic appearance model of the environment. The corresponding surprise maps are utilized as prior information to reduce the search space of a "Histograms of Oriented Gradients" object detector. Specifically, detection windows are scored and selected using surprise values. Several object classes are simultaneously searched for and learned from a low number of manually taken reference images. Experiments are performed on a human-size robot in a cluttered household environment. Compared to object detection based on a search of the complete image, a 35-fold speed-up is observed. Additionally, the detection performance increases significantly.
AB - An approach for the semantic interpretation of image-based novelty in real-world environments is presented. We measure novelty using the concept of pixel-based surprise, which quantifies how much a new observation changes the robot's current probabilistic appearance model of the environment. The corresponding surprise maps are utilized as prior information to reduce the search space of a "Histograms of Oriented Gradients" object detector. Specifically, detection windows are scored and selected using surprise values. Several object classes are simultaneously searched for and learned from a low number of manually taken reference images. Experiments are performed on a human-size robot in a cluttered household environment. Compared to object detection based on a search of the complete image, a 35-fold speed-up is observed. Additionally, the detection performance increases significantly.
KW - Novelty detection
KW - Object class detection
KW - Visual attention
UR - https://www.scopus.com/pages/publications/84892868009
U2 - 10.1007/978-3-642-33503-7_42
DO - 10.1007/978-3-642-33503-7_42
M3 - Conference contribution
AN - SCOPUS:84892868009
SN - 9783642335020
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 427
EP - 436
BT - Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings
T2 - 5th International Conference on Intelligent Robotics and Applications, ICIRA 2012
Y2 - 3 October 2012 through 5 October 2012
ER -