MIT Libraries homeMIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Utilizing object-object and object-scene context when planning to find things

Author(s)
Kollar, Thomas Fleming; Roy, Nicholas
Thumbnail
DownloadRoy-2009-Utilizing object-object and object-scene context when planning to find things.pdf (855.3Kb)
PUBLISHER_POLICY

Publisher Policy

Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.

Terms of use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Metadata
Show full item record
Abstract
In this paper, our goal is to search for a novel object, where we have a prior map of the environment and knowledge of some of the objects in it, but no information about the location of the specific novel object. We develop a probabilistic model over possible object locations that utilizes object-object and object-scene context. This model can be queried for any of over 25,000 naturally occurring objects in the world and is trained from labeled data acquired from the captions of photos on the Flickr Website. We show that these simple models based on object co-occurrences perform surprisingly well at localizing arbitrary objects in an office setting. In addition, we show how to compute paths that minimize the expected distance to the query object and show that this approach performs better than a greedy approach. Finally, we give preliminary results for grounding our approach in object classifiers.
Date issued
2009-07
URI
http://hdl.handle.net/1721.1/66603
Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Journal
IEEE International Conference on Robotics and Automation, 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Kollar, T., and N. Roy. “Utilizing object-object and object-scene context when planning to find things.” IEEE, 2009. 2168-2173. Web. 27 Oct. 2011. © 2009 Institute of Electrical and Electronics Engineers
Version: Final published version
ISBN
978-1-4244-2788-8

Collections
  • MIT Open Access Articles

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries homeMIT Libraries logo

Find us on

Twitter Facebook Instagram YouTube RSS

MIT Libraries navigation

SearchHours & locationsBorrow & requestResearch supportAbout us
PrivacyPermissionsAccessibility
MIT
Massachusetts Institute of Technology
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.