Active exploration and keypoint clustering for object recognitionKootstra, G. W., Ypma, J. & de Boer, B., 2008, International Conference on Robotics and Automation (ICRA). NEW YORK: IEEE (The Institute of Electrical and Electronics Engineers), p. 1005-1010 6 p. (IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION).
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Object recognition is a challenging problem for artificial systems. This is especially true for objects that are placed in cluttered and uncontrolled environments. To challenge this problem, we discuss an active approach to object recognition. Instead of passively observing objects, we use a robot to actively explore the objects. This enables the system to learn objects from different viewpoints and to actively select viewpoints for optimal recognition. Active vision furthermore simplifies the segmentation of the object from its background. As the basis for object recognition we use the Scale Invariant Feature Transform (SIFT). SIFT has been a successful method for image representation. However, a known drawback of SIFT is that the computational complexity of the algorithm increases with the number of keypoints. We discuss a growing-when-required (GWR) network for efficient clustering of the keypoints. The results show successful learning of 3D objects in real-world environments. The active approach is successful in separating the object from its cluttered background, and the active selection of viewpoint further increases the performance. Moreover, the GWR-network strongly reduces the number of keypoints.
|Title of host publication||International Conference on Robotics and Automation (ICRA)|
|Place of Publication||NEW YORK|
|Publisher||IEEE (The Institute of Electrical and Electronics Engineers)|
|Number of pages||6|
|Publication status||Published - 2008|
|Event||International Conference on Robotics and Automation (ICRA) - |
Duration: 19-May-2008 → 22-May-2008
|Name||IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION|
|Other||International Conference on Robotics and Automation (ICRA)|
|Period||19/05/2008 → 22/05/2008|
International Conference on Robotics and Automation (ICRA)
19/05/2008 → 22/05/2008
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