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A planning approach...
A planning approach to active visual search in large environments
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Göbelbecker, M. (author)
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- Aydemir, Alper (author)
- KTH,Centrum för Autonoma System, CAS
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- Pronobis, Andrzej (author)
- KTH,Centrum för Autonoma System, CAS
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- Sjöö, Kristoffer (author)
- KTH,Centrum för Autonoma System, CAS
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- Jensfelt, Patric (author)
- KTH,Centrum för Autonoma System, CAS
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(creator_code:org_t)
- 2011
- 2011
- English.
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In: AAAI Workshop Tech. Rep.. - 9781577355250 ; , s. 8-13
- Related links:
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https://urn.kb.se/re...
Abstract
Subject headings
Close
- 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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Keyword
- Hierarchical model
- Object location
- Real world experiment
- Search problem
- Spatial knowledge
- Unknown environments
- Visual objects
- Visual search
- Decision theory
- Hierarchical systems
- Semantics
- Robot programming
Publication and Content Type
- ref (subject category)
- kon (subject category)
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