Title:
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Interactive multiple object learning with scanty human supervision
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Author:
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Villamizar Vergel, Michael Alejandro; Garrell Zulueta, Anais; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc
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Other authors:
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Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
Abstract:
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© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/ |
Abstract:
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We present a fast and online human-robot interaction approach that progressively learns multiple object classifiers using scanty human supervision. Given an input video stream recorded during the human robot interaction, the user just needs to annotate a small fraction of frames to compute object specific classifiers based on random ferns which share the same features. The resulting methodology is fast (in a few seconds, complex object appearances can be learned), versatile (it can be applied to unconstrained scenarios), scalable (real experiments show we can model up to 30 different object classes), and minimizes the amount of human intervention by leveraging the uncertainty measures associated to each classifier.; We thoroughly validate the approach on synthetic data and on real sequences acquired with a mobile platform in indoor and outdoor scenarios containing a multitude of different objects. We show that with little human assistance, we are able to build object classifiers robust to viewpoint changes, partial occlusions, varying lighting and cluttered backgrounds. (C) 2016 Elsevier Inc. All rights reserved. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Object recognition -Interactive learning -Online classifier -Human-robot interaction -human-robot interaction -recognition -Classificació INSPEC::Pattern recognition -Classificació INSPEC::Automation::Robots |
Rights:
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Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Document type:
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Article - Submitted version Article |
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