Planner-mediated Active Visual Search

This video presents a mobile robot searching for an object in a large unknown indoors environment.

Abstract— Finding and localizing objects in realistic settings is an important part of a mobile robot's skill repertoire. The bulk of previous work makes the assumption that objects of interest are readily present in the robot's field of view. In this work we aim to relax this assumption by providing a method for semantic exploration and active visual object search in large unknown environments. We describe our spatial representation fit for this task and utilize semantic information to guide the search. We present a principled planning approach to the visual search problem. Finally we perform real world experiments, in a larger and more complex environment than found in previous work.

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

Category:

Science & Technology

Tags:

• robotics
• artificial
• intelligence
• computer
• vision
• kth
• cvap
• freiburg

[twoAday]

it would have been alot easier to buy a new box of cereal instead of making a robot to find the missing one. are you guys that much broke?