Next Best View Planning for Object Recognition in Mobile Robotics

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Authors

Colleges, School and Institutes

External organisations

  • University of Birmingham

Abstract

Recognising objects in everyday human environments is a challenging task for autonomous mobile robots. However, actively planning the views from which an object might be perceived can significantly improve the overall task performance. In this paper we have designed, developed, and evaluated an approach for next best view planning. Our view planning approach is based on online aspect graphs and selects the next best view after having identified an initial object candidate. The approach has two steps. First, we analyse the visibility of the object candidate from a set of candidate views that are reachable by a robot. Secondly, we analyse the visibility of object features by projecting the model of the most likely object into the scene. Experimental results on a mobile robot platform show that our approach is (I) effective at finding a next view that leads to recognition of an object in 82.5% of cases, (II) able to account for visual occlusions in 85% of the trials, and (III) able to disambiguate between objects that share a similar set of features. Hence, overall, we believe that the proposed approach can provide a general methodology that is applicable to a range of tasks beyond object recognition such as inspection, reconstruction, and task outcome classification.

Details

Original languageEnglish
Title of host publicationProceedings of the 34th Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG2016)
Publication statusAccepted/In press - 10 Nov 2016
Event34th Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG2016) - Huddersfield, United Kingdom
Duration: 15 Dec 201616 Dec 2016

Conference

Conference34th Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG2016)
CountryUnited Kingdom
CityHuddersfield
Period15/12/1616/12/16