Applied Informatics Group

Developing a Vision-Based Object Search Behavior for a Mobile Robot

TitleDeveloping a Vision-Based Object Search Behavior for a Mobile Robot
Publication TypeMaster Thesis
AuthorsZiegler, L.
AbstractFor interaction with humans in a real world scenario a visual understanding of the environment is indispensable. Finding an object in an unknown space with a mobile robot is one of the main challenges in domestic service robotics. This thesis presents an object search behavior for a mobile robot that reduces the search space by applying a novel kind of spatial attention system. Different visual cues are mapped in a SLAM-like manner in order to identify hypotheses for possible object locations. These locations are scanned for known objects using a recognition method consisting of two complementary pathways — a detector measuring color distributions and a classifier using a SVM with a Pyramid Matching Kernel. The usefulness of the proposed approach was shown by conducting an evaluation with the domestic robot BIRON in a real world apartment scenario.
Supervised ByWachsmuth, S., F. Siepmann, and M. Kortkamp
Academic DepartmentApplied Informatics Group
UniversityBielefeld University
thesis.pdf11.19 MB

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