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Andrzej Pronobis
UW KTH

A Planning Approach to Active Visual Search in Large Environments

M. Göbelbecker, A. Aydemir, A. Pronobis, K. Sjöö, P. Jensfelt

In: AAAI 2011 Workshop on Automated Action Planning for Autonomous Mobile Robots (PAMR), 2011.

About

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 categorization. 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.

BibTeX

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@inproceedings{gobelbecker2011aaai-pamr,
  author =       {G\"{o}belbecker, Moritz and Aydemir, Alper and Pronobis, Andrzej and Sj\"{o}\"{o}, Kristoffer and Jensfelt, Patric},
  title =        {A Planning Approach to Active Visual Search in Large Environments},
  booktitle =    {AAAI 2011 Workshop on Automated Action Planning for Autonomous Mobile Robots (PAMR)},
  year =         2011,
  address =      {San Francisco, CA, USA},
  month =        aug,
  url =          {http://www.pronobis.pro/publications/gobelbecker2011aaai-pamr}
}