TUTCRIS - Tampereen teknillinen yliopisto

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Active Object Recognition via Monte Carlo Tree Search

Tutkimustuotos

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoICRA 2015 Workshop: Beyond Geometric Constraints
AlaotsikkoPlanning for Solving Complex Tasks, Reducing Uncertainty, and Generating Informative Paths & Policies
Sivumäärä3
TilaJulkaistu - 30 toukokuuta 2015
OKM-julkaisutyyppiD3 Artikkeli ammatillisessa konferenssijulkaisussa

Tiivistelmä

This paper considers object recognition with a camera, whose viewpoint can be controlled in order to improve the recognition results. The goal is to choose a multi-view camera trajectory in order to minimize the probability of having misclassified objects and incorrect orientation estimates. Instead of using offline dynamic programming, the resulting stochastic optimal control problem is addressed via an online Monte Carlo tree search algorithm, which can handle various constraints and provides exceptional performance in large state spaces. A key insight is to use an active hypothesis testing policy to select camera viewpoints during the rollout stage of the tree search.

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Julkaisufoorumi-taso

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