Improving the selection and detection of visual landmarks through object tracking

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dc.contributor.authorEspinace Ronda, Pablo Andrés
dc.contributor.authorSoto Arriaza, Álvaro Marcelo
dc.date.accessioned2022-05-13T19:15:15Z
dc.date.available2022-05-13T19:15:15Z
dc.date.issued2008
dc.description.abstractThe unsupervised selection and posterior recognition of visual landmarks is a highly valuable perceptual capability for a mobile robot. Recently, we proposed a system that aims to achieve this capability by combining a bottom-up data driven approach with top-down feedback provided by high level semantic representations. The bottom-up approach is based on three main mechanisms: visual attention, area segmentation, and landmark characterization. The top-down feedback is based on two information sources: i) An estimation of the robot position that reduces the searching scope for potential matches with previously selected landmarks, ii) A set of weights that, according to the results of previous recognitions, controls the influence of different segmentation algorithms in the recognition of each landmark. In this paper we explore the benefits of extending our previous work by including a visual tracking step for each of the selected landmarks. Our intuition is that the inclusion of a tracking step can help to improve the model of each landmark by associating and selecting information from its most significant views. Furthermore, it can also help to avoid problems related to the selection of spurious landmarks. Our results confirm these intuitions by showing that the inclusion of the tracking step produces a significant increase in the recall rate for landmark recognition.
dc.fuente.origenIEEE
dc.identifier.doi10.1109/CVPRW.2008.4563133
dc.identifier.isbn978-1424423392
dc.identifier.issn2160-7508
dc.identifier.urihttps://doi.org/10.1109/CVPRW.2008.4563133
dc.identifier.urihttps://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4563133
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/63861
dc.information.autorucEscuela de ingeniería ; Espinace Ronda, Pablo ; S/I ; 3892
dc.information.autorucEscuela de ingeniería ; Soto Arriaza, Álvaro Marcelo ; S/I ; 73678
dc.language.isoen
dc.nota.accesoContenido parcial
dc.publisherIEEE
dc.relation.ispartofIEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (2008 : Anchorage, AK, Estados Unidos)
dc.rightsacceso restringido
dc.subjectObject detection
dc.subjectMobile robots
dc.subjectNavigation
dc.subjectFeedback
dc.subjectRobotics and automation
dc.subjectRobustness
dc.subjectComputer science
dc.subjectIndoor environments
dc.subjectGlobal Positioning System
dc.subjectBuildings
dc.titleImproving the selection and detection of visual landmarks through object trackinges_ES
dc.typecomunicación de congreso
sipa.codpersvinculados3892
sipa.codpersvinculados73678
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