Exploiting feature dynamics for active object recognition
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Roy_Exploiting Feature.pdf
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1.03 MB
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Adobe PDF
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Author(s)
Robbel, Philipp
Roy, Deb K
Date Issued
December 2010
Journal
2010 11th International Conference on Control Automation Robotics & Vision
Publisher
Institute of Electrical and Electronics Engineers
Citation
Robbel, Philipp, and Deb Roy. “Exploiting feature dynamics for active object recognition.” In 2010 11th International Conference on Control Automation Robotics & Vision, Singapore, 7-10th December 2010. p.2102-2108. Institute of Electrical and Electronics Engineers, 2010.
Version
Author's final manuscript
Abstract
This paper describes a new approach to object recognition for active vision systems that integrates information across multiple observations of an object. The approach exploits the order relationship between successive frames to derive a classifier based on the characteristic motion of local features across visual sweeps. This motion model reveals structural information about the object that can be exploited for recognition. The main contribution of this paper is a recognition system that extends invariant local features (shape contexts) into the time domain by integration of a motion model. Evaluations on one standardized and one custom collected dataset from the humanoid robot in our laboratory demonstrate that the motion model allows higher-quality hypotheses about object categories quicker than a baseline system that treats object views as unordered streams of images.
MIT Department
Massachusetts Institute of Technology. Media Laboratory
Program in Media Arts and Sciences (Massachusetts Institute of Technology)
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1109/ICARCV.2010.5707373
