Surprise-driven acquisition of visual object representations for cognitive mobile robots

Werner Maier, Eckehard Steinbach

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

4 Zitate (Scopus)

Abstract

Robots in a household environment have to execute a variety of tasks including carrying objects. In order to grasp the correct objects for a desired action it is indispensable that the robot is able to recognize the objects in its environment. From time to time, the robot will encounter new unknown objects which it has never seen before. In order to recognize them in a later task the robot has to acquire an internal representation of them. In this paper, we present an approach for the autonomous acquisition of visual object representations in a cluttered environment. Guided by surprise, the robot detects novel objects in a familiar environment, selects local image features which represent their appearance and stores them in a database. Experimental results show that our method for the detection of surprising events reliably directs the robot's attention to the novel objects and that the recognition behavior based on our acquired object representations outperforms a state-of-the-art approach.

OriginalspracheEnglisch
Titel2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Seiten1621-1626
Seitenumfang6
DOIs
PublikationsstatusVeröffentlicht - 2011
Veranstaltung2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Dauer: 9 Mai 201113 Mai 2011

Publikationsreihe

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Konferenz

Konferenz2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Land/GebietChina
OrtShanghai
Zeitraum9/05/1113/05/11

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