NDLI: Appearance-based motion strategies for object detection

Content Provider	IEEE Xplore Digital Library
Author	Becerra, I. Valentin-Coronado, L.M. Murrieta-Cid, R. Latombe, J.-C.
Copyright Year	2014
Description	Author affiliation: Stanford Univ., Stanford, CA, USA (Latombe, J.-C.) \|\| Centro de Investig. en Mat., CDVIAT, Guanajuato, Mexico (Becerra, I.; Valentin-Coronado, L.M.; Murrieta-Cid, R.)
Abstract	This paper investigates an object detection problem using a mobile robot equipped with a vision sensor. The main novelty of this work is an approach that combines localization of the robot relative to an object believed to be the target and confirmation of this object's identity. Since the position of the robot relative to the candidate target is never exactly known, we model this position by a probability distribution over a set of cells forming a decomposition of the workspace around the candidate target. By performing a series of moves the robot acquires several images and runs a target detector module on each image. Its goal is not only to reach a position where the target detector can confirm the target with high confidence (as this approach would be prone to false positives). It is also to reach a position where, with high probability, the target detector will confirm with high confidence that the candidate target is actually the target. This twofold goal reduces drastically the likelihood of false positives. The target confirmation problem is modeled as a Partially-Observable Markov Decision Process (POMDP), which is solved using Stochastic Dynamic Programming (SDP).
Starting Page	6455
Ending Page	6461
File Size	2575920
Page Count	7
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907812
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Detectors Planning Robot kinematics Probability distribution Entropy
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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