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Authors: Vignesh Ramanathan 1 and Axel Pinz 2

Affiliations: 1 Indian Institute of Technology, India ; 2 Graz University of Technology, Austria

Keyword(s): Active vision, Humanoid robot, Object categorization.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision

Abstract: We present a Bag of Words-based active object categorization technique implemented and tested on a humanoid robot. The robot is trained to categorize objects that are handed to it by a human operator. The robot uses hand and head motions to actively acquire a number of different views. A view planning scheme using entropy minimization reduces the number of views needed to achieve a valid decision. Categorization results are significantly improved by active elimination of background features using robot arm motion. Our experiments cover both, categorization when the object is handed to the robot in a fixed pose at training and testing, and object pose independent categorization. Results on a 4-class object database demonstrate the classification efficiency, a significant gain from multi-view compared to single-view classification, and the advantage of view planning. We conclude that humanoid robotic systems can be successfully applied to actively categorize objects - a task with many potential applications ranging from edutainment to active surveillance. (More)

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Paper citation in several formats:
Ramanathan, V. and Pinz, A. (2011). ACTIVE OBJECT CATEGORIZATION ON A HUMANOID ROBOT. In Proceedings of the International Conference on Computer Vision Theory and Applications (VISIGRAPP 2011) - VISAPP; ISBN 978-989-8425-47-8; ISSN 2184-4321, SciTePress, pages 235-241. DOI: 10.5220/0003312802350241

@conference{visapp11,
author={Vignesh Ramanathan. and Axel Pinz.},
title={ACTIVE OBJECT CATEGORIZATION ON A HUMANOID ROBOT},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications (VISIGRAPP 2011) - VISAPP},
year={2011},
pages={235-241},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003312802350241},
isbn={978-989-8425-47-8},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the International Conference on Computer Vision Theory and Applications (VISIGRAPP 2011) - VISAPP
TI - ACTIVE OBJECT CATEGORIZATION ON A HUMANOID ROBOT
SN - 978-989-8425-47-8
IS - 2184-4321
AU - Ramanathan, V.
AU - Pinz, A.
PY - 2011
SP - 235
EP - 241
DO - 10.5220/0003312802350241
PB - SciTePress

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